diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000371.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000371.json new file mode 100644 index 0000000000000000000000000000000000000000..d5aeaa0a470ee2d8d55e049f05648d76a177d5bb --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000371.json @@ -0,0 +1,84 @@ +{ + "episode_index": 371, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block using the left arm and hand it over.", + "num_frames": 288, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 77, + "end_frame": 120, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 121, + "end_frame": 188, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 189, + "end_frame": 282, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 174, + "arm": "right", + "kind": "close", + "start_frame": 167, + "end_frame": 181 + }, + { + "frame": 196, + "arm": "left", + "kind": "open", + "start_frame": 189, + "end_frame": 203 + }, + { + "frame": 275, + "arm": "right", + "kind": "open", + "start_frame": 268, + "end_frame": 282 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000372.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000372.json new file mode 100644 index 0000000000000000000000000000000000000000..797c17862714b8c90900646e13d7885a2d34ff29 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000372.json @@ -0,0 +1,84 @@ +{ + "episode_index": 372, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000373.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000373.json new file mode 100644 index 0000000000000000000000000000000000000000..1de5480cc70b37858d0fd40b6d4f825a2fdf9a6d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000373.json @@ -0,0 +1,84 @@ +{ + "episode_index": 373, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.", + "num_frames": 288, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 79, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 80, + "end_frame": 122, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 123, + "end_frame": 190, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 191, + "end_frame": 282, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "left", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 176, + "arm": "right", + "kind": "close", + "start_frame": 169, + "end_frame": 183 + }, + { + "frame": 198, + "arm": "left", + "kind": "open", + "start_frame": 191, + "end_frame": 205 + }, + { + "frame": 275, + "arm": "right", + "kind": "open", + "start_frame": 268, + "end_frame": 282 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000374.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000374.json new file mode 100644 index 0000000000000000000000000000000000000000..27f74ddf3fee86d31aa563709f7bf6f58e192a19 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000374.json @@ -0,0 +1,84 @@ +{ + "episode_index": 374, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000375.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000375.json new file mode 100644 index 0000000000000000000000000000000000000000..3b1c2923c0a85e40858950bab94c5b365cb822aa --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000375.json @@ -0,0 +1,84 @@ +{ + "episode_index": 375, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "The left arm should grab the red block, hand it to the right, and put it on the blue pad.", + "num_frames": 288, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 118, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 119, + "end_frame": 186, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 187, + "end_frame": 282, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 172, + "arm": "right", + "kind": "close", + "start_frame": 165, + "end_frame": 179 + }, + { + "frame": 194, + "arm": "left", + "kind": "open", + "start_frame": 187, + "end_frame": 201 + }, + { + "frame": 275, + "arm": "right", + "kind": "open", + "start_frame": 268, + "end_frame": 282 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000376.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000376.json new file mode 100644 index 0000000000000000000000000000000000000000..82bea3ece4ef6450d74e4584ac7dc0cbd4f8507d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000376.json @@ -0,0 +1,84 @@ +{ + "episode_index": 376, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block, pass it to the right arm, then place it.", + "num_frames": 285, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 116, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 117, + "end_frame": 184, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 185, + "end_frame": 279, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 272, + "arm": "right", + "kind": "open", + "start_frame": 265, + "end_frame": 279 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000377.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000377.json new file mode 100644 index 0000000000000000000000000000000000000000..eacfb587343ecc52ea109ace57e46a07eb141003 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000377.json @@ -0,0 +1,84 @@ +{ + "episode_index": 377, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 277, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000378.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000378.json new file mode 100644 index 0000000000000000000000000000000000000000..f65604698b3394d9314eb0c91597f5d7f849a211 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000378.json @@ -0,0 +1,84 @@ +{ + "episode_index": 378, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 116, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 117, + "end_frame": 184, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 185, + "end_frame": 277, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000379.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000379.json new file mode 100644 index 0000000000000000000000000000000000000000..71a71d5ea9e7371c813e903dc7ae336e472c48a8 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000379.json @@ -0,0 +1,84 @@ +{ + "episode_index": 379, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift, switch arms, and place the red block.", + "num_frames": 285, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 117, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 118, + "end_frame": 185, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 186, + "end_frame": 279, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 171, + "arm": "right", + "kind": "close", + "start_frame": 164, + "end_frame": 178 + }, + { + "frame": 193, + "arm": "left", + "kind": "open", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 272, + "arm": "right", + "kind": "open", + "start_frame": 265, + "end_frame": 279 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000380.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000380.json new file mode 100644 index 0000000000000000000000000000000000000000..2efd3044a4e30e2ddcd01dd5cde17d5ef1709bc2 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000380.json @@ -0,0 +1,84 @@ +{ + "episode_index": 380, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grip the red block with the left arm and transfer it.", + "num_frames": 285, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 77, + "end_frame": 116, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 117, + "end_frame": 184, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 185, + "end_frame": 279, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 272, + "arm": "right", + "kind": "open", + "start_frame": 265, + "end_frame": 279 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000381.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000381.json new file mode 100644 index 0000000000000000000000000000000000000000..1f88b79ff110de3e1c7f7880a1432de904f8dfea --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000381.json @@ -0,0 +1,84 @@ +{ + "episode_index": 381, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block, hand it to the right arm, then set it down.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000382.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000382.json new file mode 100644 index 0000000000000000000000000000000000000000..86363859ab9e9a4d9c26c2e82589c4c58939138e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000382.json @@ -0,0 +1,84 @@ +{ + "episode_index": 382, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Place the red block onto the blue pad using the right arm.", + "num_frames": 288, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 121, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 122, + "end_frame": 189, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 190, + "end_frame": 282, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 175, + "arm": "right", + "kind": "close", + "start_frame": 168, + "end_frame": 182 + }, + { + "frame": 197, + "arm": "left", + "kind": "open", + "start_frame": 190, + "end_frame": 204 + }, + { + "frame": 275, + "arm": "right", + "kind": "open", + "start_frame": 268, + "end_frame": 282 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000383.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000383.json new file mode 100644 index 0000000000000000000000000000000000000000..c53115f75ca1e34f676fe78a870e65ce8ef00ff6 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000383.json @@ -0,0 +1,84 @@ +{ + "episode_index": 383, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block and transfer to the right.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000384.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000384.json new file mode 100644 index 0000000000000000000000000000000000000000..90267915a4410c5359a0adf2b62c216fd58fcb50 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000384.json @@ -0,0 +1,84 @@ +{ + "episode_index": 384, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the block with the left arm, pass it to the right arm.", + "num_frames": 285, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 78, + "end_frame": 118, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 119, + "end_frame": 186, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 187, + "end_frame": 279, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 172, + "arm": "right", + "kind": "close", + "start_frame": 165, + "end_frame": 179 + }, + { + "frame": 194, + "arm": "left", + "kind": "open", + "start_frame": 187, + "end_frame": 201 + }, + { + "frame": 272, + "arm": "right", + "kind": "open", + "start_frame": 265, + "end_frame": 279 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000385.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000385.json new file mode 100644 index 0000000000000000000000000000000000000000..ec3fd000f0b32c4ccab32a36325d574a2f607502 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000385.json @@ -0,0 +1,84 @@ +{ + "episode_index": 385, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block with the left arm and transfer to the right.", + "num_frames": 290, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 78, + "end_frame": 123, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 124, + "end_frame": 191, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 192, + "end_frame": 284, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 177, + "arm": "right", + "kind": "close", + "start_frame": 170, + "end_frame": 184 + }, + { + "frame": 199, + "arm": "left", + "kind": "open", + "start_frame": 192, + "end_frame": 206 + }, + { + "frame": 277, + "arm": "right", + "kind": "open", + "start_frame": 270, + "end_frame": 284 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000386.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000386.json new file mode 100644 index 0000000000000000000000000000000000000000..3690e92711285c954a622ae33dc1fb087dacbb29 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000386.json @@ -0,0 +1,84 @@ +{ + "episode_index": 386, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use left arm to grab the block and hand it to the right.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000387.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000387.json new file mode 100644 index 0000000000000000000000000000000000000000..ea5d86457ef95015b210052154d0b5e21adc8b37 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000387.json @@ -0,0 +1,84 @@ +{ + "episode_index": 387, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hand the red block to the right arm.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000388.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000388.json new file mode 100644 index 0000000000000000000000000000000000000000..fe620599a67cf9c4160eccd767dd57e9cbdf73f5 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000388.json @@ -0,0 +1,84 @@ +{ + "episode_index": 388, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.", + "num_frames": 299, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 80, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 81, + "end_frame": 129, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 130, + "end_frame": 196, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 197, + "end_frame": 293, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 65, + "arm": "left", + "kind": "close", + "start_frame": 58, + "end_frame": 72 + }, + { + "frame": 182, + "arm": "right", + "kind": "close", + "start_frame": 175, + "end_frame": 189 + }, + { + "frame": 204, + "arm": "left", + "kind": "open", + "start_frame": 197, + "end_frame": 211 + }, + { + "frame": 286, + "arm": "right", + "kind": "open", + "start_frame": 279, + "end_frame": 293 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000389.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000389.json new file mode 100644 index 0000000000000000000000000000000000000000..b1675b6c53c5d565c3085ca2746bc22806eba90f --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000389.json @@ -0,0 +1,84 @@ +{ + "episode_index": 389, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hold the red block with the left arm and place it on the pad.", + "num_frames": 289, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 121, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 122, + "end_frame": 189, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 190, + "end_frame": 283, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 175, + "arm": "right", + "kind": "close", + "start_frame": 168, + "end_frame": 182 + }, + { + "frame": 197, + "arm": "left", + "kind": "open", + "start_frame": 190, + "end_frame": 204 + }, + { + "frame": 276, + "arm": "right", + "kind": "open", + "start_frame": 269, + "end_frame": 283 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000390.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000390.json new file mode 100644 index 0000000000000000000000000000000000000000..3d5239540e20e16d8a31aa08b9d81208402bc0d6 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000390.json @@ -0,0 +1,84 @@ +{ + "episode_index": 390, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.", + "num_frames": 292, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 77, + "end_frame": 125, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 126, + "end_frame": 193, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 194, + "end_frame": 286, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 179, + "arm": "right", + "kind": "close", + "start_frame": 172, + "end_frame": 186 + }, + { + "frame": 201, + "arm": "left", + "kind": "open", + "start_frame": 194, + "end_frame": 208 + }, + { + "frame": 279, + "arm": "right", + "kind": "open", + "start_frame": 272, + "end_frame": 286 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000391.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000391.json new file mode 100644 index 0000000000000000000000000000000000000000..232ad53bce538fbd74a0a919b582b708983c7bb3 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000391.json @@ -0,0 +1,84 @@ +{ + "episode_index": 391, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000392.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000392.json new file mode 100644 index 0000000000000000000000000000000000000000..aab411de53b9eb96eefc7c5f7c80d1917760a582 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000392.json @@ -0,0 +1,84 @@ +{ + "episode_index": 392, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block, pass it to the right arm, and drop it.", + "num_frames": 292, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 79, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 80, + "end_frame": 124, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 125, + "end_frame": 192, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 193, + "end_frame": 286, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "left", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 178, + "arm": "right", + "kind": "close", + "start_frame": 171, + "end_frame": 185 + }, + { + "frame": 200, + "arm": "left", + "kind": "open", + "start_frame": 193, + "end_frame": 207 + }, + { + "frame": 279, + "arm": "right", + "kind": "open", + "start_frame": 272, + "end_frame": 286 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000393.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000393.json new file mode 100644 index 0000000000000000000000000000000000000000..66ee0700beedf9719b0937c61c8db9e3f04e8c97 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000393.json @@ -0,0 +1,84 @@ +{ + "episode_index": 393, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.", + "num_frames": 310, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 85, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 86, + "end_frame": 134, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 135, + "end_frame": 202, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 203, + "end_frame": 304, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 68, + "arm": "left", + "kind": "close", + "start_frame": 61, + "end_frame": 75 + }, + { + "frame": 188, + "arm": "right", + "kind": "close", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 210, + "arm": "left", + "kind": "open", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 297, + "arm": "right", + "kind": "open", + "start_frame": 290, + "end_frame": 304 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000394.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000394.json new file mode 100644 index 0000000000000000000000000000000000000000..314fe5d1e6d0124b4d23f54a797b8e3165f18d61 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000394.json @@ -0,0 +1,84 @@ +{ + "episode_index": 394, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000395.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000395.json new file mode 100644 index 0000000000000000000000000000000000000000..03ab8e88606969e2304b147201e381811c95b65b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000395.json @@ -0,0 +1,84 @@ +{ + "episode_index": 395, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block and transfer to the right.", + "num_frames": 298, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 79, + "end_frame": 132, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 133, + "end_frame": 200, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 201, + "end_frame": 292, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 186, + "arm": "right", + "kind": "close", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 208, + "arm": "left", + "kind": "open", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 285, + "arm": "right", + "kind": "open", + "start_frame": 278, + "end_frame": 292 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000396.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000396.json new file mode 100644 index 0000000000000000000000000000000000000000..d5062e52d4c11241fd1d755d99c3d988dac658d6 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000396.json @@ -0,0 +1,84 @@ +{ + "episode_index": 396, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block, hand it over, and place it properly.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 110, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 111, + "end_frame": 178, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 179, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000397.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000397.json new file mode 100644 index 0000000000000000000000000000000000000000..a84205b6964d8ac2986b7f0dd5c9fc662487adf8 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000397.json @@ -0,0 +1,84 @@ +{ + "episode_index": 397, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000398.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000398.json new file mode 100644 index 0000000000000000000000000000000000000000..211a83b5a4a39cf9aafd66b7b400191739cd69e5 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000398.json @@ -0,0 +1,84 @@ +{ + "episode_index": 398, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 277, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000399.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000399.json new file mode 100644 index 0000000000000000000000000000000000000000..cc5580dcce8a7a2d5394ecdd210ef935ddd510d6 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000399.json @@ -0,0 +1,84 @@ +{ + "episode_index": 399, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift, switch arms, and place the red block.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000400.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000400.json new file mode 100644 index 0000000000000000000000000000000000000000..57a8befc4f5322487f4d02f52b5e5be3396b4888 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000400.json @@ -0,0 +1,84 @@ +{ + "episode_index": 400, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.", + "num_frames": 293, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 79, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 80, + "end_frame": 124, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 125, + "end_frame": 192, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 193, + "end_frame": 287, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "left", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 178, + "arm": "right", + "kind": "close", + "start_frame": 171, + "end_frame": 185 + }, + { + "frame": 200, + "arm": "left", + "kind": "open", + "start_frame": 193, + "end_frame": 207 + }, + { + "frame": 280, + "arm": "right", + "kind": "open", + "start_frame": 273, + "end_frame": 287 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000401.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000401.json new file mode 100644 index 0000000000000000000000000000000000000000..2c6c08f3ce7415654d3d36467f78ff108d8368b7 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000401.json @@ -0,0 +1,84 @@ +{ + "episode_index": 401, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block, hand it to the right arm, then set it down.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000402.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000402.json new file mode 100644 index 0000000000000000000000000000000000000000..d233936290d540c7b182a466dd76310f87be71e1 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000402.json @@ -0,0 +1,84 @@ +{ + "episode_index": 402, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000403.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000403.json new file mode 100644 index 0000000000000000000000000000000000000000..63ca11a102924d3463bb4ef2702d5e14d3a2ae04 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000403.json @@ -0,0 +1,84 @@ +{ + "episode_index": 403, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.", + "num_frames": 318, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 88, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 89, + "end_frame": 138, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 206, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 207, + "end_frame": 312, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 70, + "arm": "left", + "kind": "close", + "start_frame": 63, + "end_frame": 77 + }, + { + "frame": 192, + "arm": "right", + "kind": "close", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 214, + "arm": "left", + "kind": "open", + "start_frame": 207, + "end_frame": 221 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000404.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000404.json new file mode 100644 index 0000000000000000000000000000000000000000..ca01919e49e3f48c7c9f9fa2225d1d95855d2408 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000404.json @@ -0,0 +1,84 @@ +{ + "episode_index": 404, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up and handover the red block.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000405.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000405.json new file mode 100644 index 0000000000000000000000000000000000000000..4fef944b1b3d7e316589c158f15922e847081ee9 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000405.json @@ -0,0 +1,84 @@ +{ + "episode_index": 405, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000406.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000406.json new file mode 100644 index 0000000000000000000000000000000000000000..e46e98c08a558a5a39e8273ae3e459a83b067542 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000406.json @@ -0,0 +1,84 @@ +{ + "episode_index": 406, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.", + "num_frames": 291, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 79, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 80, + "end_frame": 123, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 124, + "end_frame": 191, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 192, + "end_frame": 285, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "left", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 177, + "arm": "right", + "kind": "close", + "start_frame": 170, + "end_frame": 184 + }, + { + "frame": 199, + "arm": "left", + "kind": "open", + "start_frame": 192, + "end_frame": 206 + }, + { + "frame": 278, + "arm": "right", + "kind": "open", + "start_frame": 271, + "end_frame": 285 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000407.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000407.json new file mode 100644 index 0000000000000000000000000000000000000000..dcfe31e0049e29f5eef2dfd44f85c7374952dbb0 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000407.json @@ -0,0 +1,84 @@ +{ + "episode_index": 407, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use left arm to grab the red block and place it on the pad.", + "num_frames": 290, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 79, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 80, + "end_frame": 122, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 123, + "end_frame": 190, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 191, + "end_frame": 284, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "left", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 176, + "arm": "right", + "kind": "close", + "start_frame": 169, + "end_frame": 183 + }, + { + "frame": 198, + "arm": "left", + "kind": "open", + "start_frame": 191, + "end_frame": 205 + }, + { + "frame": 277, + "arm": "right", + "kind": "open", + "start_frame": 270, + "end_frame": 284 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000408.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000408.json new file mode 100644 index 0000000000000000000000000000000000000000..67a6d128d037186e1e8091a0e8fd7b6202058a71 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000408.json @@ -0,0 +1,84 @@ +{ + "episode_index": 408, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.", + "num_frames": 289, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 119, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 120, + "end_frame": 187, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 188, + "end_frame": 283, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 173, + "arm": "right", + "kind": "close", + "start_frame": 166, + "end_frame": 180 + }, + { + "frame": 195, + "arm": "left", + "kind": "open", + "start_frame": 188, + "end_frame": 202 + }, + { + "frame": 276, + "arm": "right", + "kind": "open", + "start_frame": 269, + "end_frame": 283 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000409.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000409.json new file mode 100644 index 0000000000000000000000000000000000000000..8f5a62addd4589f150d138b96d498d8bfa0bb8d0 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000409.json @@ -0,0 +1,84 @@ +{ + "episode_index": 409, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block, pass it to the right arm, then place it.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000410.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000410.json new file mode 100644 index 0000000000000000000000000000000000000000..89af00145d751fa551c41d03ed721a4dddb33ab0 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000410.json @@ -0,0 +1,84 @@ +{ + "episode_index": 410, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000411.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000411.json new file mode 100644 index 0000000000000000000000000000000000000000..36755512693513f7fdde2fdae50c4163c29c658b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000411.json @@ -0,0 +1,84 @@ +{ + "episode_index": 411, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Set the red block on the blue pad gently.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000412.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000412.json new file mode 100644 index 0000000000000000000000000000000000000000..a4552fc6680a991fd25d888d06ef3f3d3f8bd341 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000412.json @@ -0,0 +1,84 @@ +{ + "episode_index": 412, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Move the red block from the left hand to the pad.", + "num_frames": 293, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 78, + "end_frame": 126, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 127, + "end_frame": 194, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 195, + "end_frame": 287, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 180, + "arm": "right", + "kind": "close", + "start_frame": 173, + "end_frame": 187 + }, + { + "frame": 202, + "arm": "left", + "kind": "open", + "start_frame": 195, + "end_frame": 209 + }, + { + "frame": 280, + "arm": "right", + "kind": "open", + "start_frame": 273, + "end_frame": 287 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000413.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000413.json new file mode 100644 index 0000000000000000000000000000000000000000..569391e923b364a1cc10b0ffa024f242bec43fcb --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000413.json @@ -0,0 +1,84 @@ +{ + "episode_index": 413, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Place the red block onto the blue pad using the right arm.", + "num_frames": 284, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 115, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 116, + "end_frame": 183, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 184, + "end_frame": 278, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 271, + "arm": "right", + "kind": "open", + "start_frame": 264, + "end_frame": 278 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000414.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000414.json new file mode 100644 index 0000000000000000000000000000000000000000..b1b9ecfdcdda521338e619ea4235b8bea700eb3f --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000414.json @@ -0,0 +1,84 @@ +{ + "episode_index": 414, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up and handover the red block.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000415.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000415.json new file mode 100644 index 0000000000000000000000000000000000000000..c19b30334e1bdf2a848b03f4071b690e4c1e2ac7 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000415.json @@ -0,0 +1,84 @@ +{ + "episode_index": 415, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hold the red block, transfer to the right arm, then set it down.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 117, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 118, + "end_frame": 184, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 185, + "end_frame": 277, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000416.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000416.json new file mode 100644 index 0000000000000000000000000000000000000000..33c7249fbb591e871b26614f209d4e1f9a77b686 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000416.json @@ -0,0 +1,84 @@ +{ + "episode_index": 416, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 115, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 116, + "end_frame": 183, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 184, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000417.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000417.json new file mode 100644 index 0000000000000000000000000000000000000000..13084212510857c9c260b4e08b5122e519378d60 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000417.json @@ -0,0 +1,84 @@ +{ + "episode_index": 417, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab red block, pass to the right arm, then drop on blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000418.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000418.json new file mode 100644 index 0000000000000000000000000000000000000000..7b15fb1700db9e1eb18f419f44038812fb5ce666 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000418.json @@ -0,0 +1,84 @@ +{ + "episode_index": 418, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000419.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000419.json new file mode 100644 index 0000000000000000000000000000000000000000..4114232cea6ea39d92f55b519c0f25c06f5bbc5b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000419.json @@ -0,0 +1,84 @@ +{ + "episode_index": 419, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000420.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000420.json new file mode 100644 index 0000000000000000000000000000000000000000..185d741b7d4663403f263388a3a79ef7d41ba8e3 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000420.json @@ -0,0 +1,84 @@ +{ + "episode_index": 420, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.", + "num_frames": 285, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 117, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 118, + "end_frame": 186, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 187, + "end_frame": 279, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 172, + "arm": "right", + "kind": "close", + "start_frame": 165, + "end_frame": 179 + }, + { + "frame": 194, + "arm": "left", + "kind": "open", + "start_frame": 187, + "end_frame": 201 + }, + { + "frame": 272, + "arm": "right", + "kind": "open", + "start_frame": 265, + "end_frame": 279 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000421.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000421.json new file mode 100644 index 0000000000000000000000000000000000000000..006cdc8921522dc6ca01359371d851e740750688 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000421.json @@ -0,0 +1,84 @@ +{ + "episode_index": 421, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block with the left hand and pass it.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 270, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000422.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000422.json new file mode 100644 index 0000000000000000000000000000000000000000..bb452d92154a6aa04322c4ea6255cd67b98bfeb0 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000422.json @@ -0,0 +1,84 @@ +{ + "episode_index": 422, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block, pass it to the right arm, and drop it.", + "num_frames": 303, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 79, + "end_frame": 137, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 205, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 206, + "end_frame": 297, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 191, + "arm": "right", + "kind": "close", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 213, + "arm": "left", + "kind": "open", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 290, + "arm": "right", + "kind": "open", + "start_frame": 283, + "end_frame": 297 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000423.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000423.json new file mode 100644 index 0000000000000000000000000000000000000000..00c84acc7f1cb3e536bd6b173fd09e43949e5fc6 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000423.json @@ -0,0 +1,84 @@ +{ + "episode_index": 423, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000424.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000424.json new file mode 100644 index 0000000000000000000000000000000000000000..bf1285930ba4cbd1afb1606e3949c0ca55b64f55 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000424.json @@ -0,0 +1,84 @@ +{ + "episode_index": 424, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab red block, pass to the right arm, then drop on blue pad.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 116, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 117, + "end_frame": 183, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 184, + "end_frame": 277, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000425.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000425.json new file mode 100644 index 0000000000000000000000000000000000000000..64ae28eb7099a25bbb44251f8466f7cbaf402ab9 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000425.json @@ -0,0 +1,84 @@ +{ + "episode_index": 425, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.", + "num_frames": 284, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 115, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 116, + "end_frame": 183, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 184, + "end_frame": 278, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 271, + "arm": "right", + "kind": "open", + "start_frame": 264, + "end_frame": 278 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000426.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000426.json new file mode 100644 index 0000000000000000000000000000000000000000..7f1a5bf693f4c6166d33012aa3ecdfe88b318bbb --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000426.json @@ -0,0 +1,84 @@ +{ + "episode_index": 426, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block, hand it to the right arm, then set it down.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000427.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000427.json new file mode 100644 index 0000000000000000000000000000000000000000..161aa44f971713d69bd4f24f29a5cd178600037c --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000427.json @@ -0,0 +1,84 @@ +{ + "episode_index": 427, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000428.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000428.json new file mode 100644 index 0000000000000000000000000000000000000000..e585bf36a97f41b842d8111bb1223d3dd6aaddbf --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000428.json @@ -0,0 +1,84 @@ +{ + "episode_index": 428, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with your left arm.", + "num_frames": 285, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 119, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 120, + "end_frame": 187, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 188, + "end_frame": 279, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 173, + "arm": "right", + "kind": "close", + "start_frame": 166, + "end_frame": 180 + }, + { + "frame": 195, + "arm": "left", + "kind": "open", + "start_frame": 188, + "end_frame": 202 + }, + { + "frame": 272, + "arm": "right", + "kind": "open", + "start_frame": 265, + "end_frame": 279 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000429.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000429.json new file mode 100644 index 0000000000000000000000000000000000000000..a05d61df46126a1a8e1c332308bb4dc43034b069 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000429.json @@ -0,0 +1,84 @@ +{ + "episode_index": 429, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.", + "num_frames": 313, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 84, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 85, + "end_frame": 137, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 205, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 206, + "end_frame": 307, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 66, + "arm": "left", + "kind": "close", + "start_frame": 59, + "end_frame": 73 + }, + { + "frame": 191, + "arm": "right", + "kind": "close", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 213, + "arm": "left", + "kind": "open", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 300, + "arm": "right", + "kind": "open", + "start_frame": 293, + "end_frame": 307 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000430.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000430.json new file mode 100644 index 0000000000000000000000000000000000000000..9683429c1ab163a7a57a210869214f802e02c72e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000430.json @@ -0,0 +1,84 @@ +{ + "episode_index": 430, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with your left arm.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 110, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 111, + "end_frame": 177, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 178, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 163, + "arm": "right", + "kind": "close", + "start_frame": 156, + "end_frame": 170 + }, + { + "frame": 185, + "arm": "left", + "kind": "open", + "start_frame": 178, + "end_frame": 192 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000431.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000431.json new file mode 100644 index 0000000000000000000000000000000000000000..943b7e3c87bf20ac7a70cf704d7c8c8dd2a663bd --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000431.json @@ -0,0 +1,84 @@ +{ + "episode_index": 431, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000432.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000432.json new file mode 100644 index 0000000000000000000000000000000000000000..0bc62dc368ac612058bcc0a3c4aad1a083661d1e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000432.json @@ -0,0 +1,84 @@ +{ + "episode_index": 432, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pass the red block from the left to the right.", + "num_frames": 286, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 78, + "end_frame": 118, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 119, + "end_frame": 186, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 187, + "end_frame": 280, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 172, + "arm": "right", + "kind": "close", + "start_frame": 165, + "end_frame": 179 + }, + { + "frame": 194, + "arm": "left", + "kind": "open", + "start_frame": 187, + "end_frame": 201 + }, + { + "frame": 273, + "arm": "right", + "kind": "open", + "start_frame": 266, + "end_frame": 280 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000433.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000433.json new file mode 100644 index 0000000000000000000000000000000000000000..f2bdf1c7259c6345ff5cfb25b1581dbb5268259c --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000433.json @@ -0,0 +1,84 @@ +{ + "episode_index": 433, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 109, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 110, + "end_frame": 177, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 178, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 163, + "arm": "right", + "kind": "close", + "start_frame": 156, + "end_frame": 170 + }, + { + "frame": 185, + "arm": "left", + "kind": "open", + "start_frame": 178, + "end_frame": 192 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000434.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000434.json new file mode 100644 index 0000000000000000000000000000000000000000..6e32d9b1d88148c9411d1822865f9cf157a2787d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000434.json @@ -0,0 +1,84 @@ +{ + "episode_index": 434, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.", + "num_frames": 294, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 79, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 80, + "end_frame": 124, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 125, + "end_frame": 192, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 193, + "end_frame": 288, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "left", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 178, + "arm": "right", + "kind": "close", + "start_frame": 171, + "end_frame": 185 + }, + { + "frame": 200, + "arm": "left", + "kind": "open", + "start_frame": 193, + "end_frame": 207 + }, + { + "frame": 281, + "arm": "right", + "kind": "open", + "start_frame": 274, + "end_frame": 288 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000435.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000435.json new file mode 100644 index 0000000000000000000000000000000000000000..ed3c8525b302d1d453e1ef3f66eac47872f54a02 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000435.json @@ -0,0 +1,84 @@ +{ + "episode_index": 435, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 90, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 91, + "end_frame": 155, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 156, + "end_frame": 223, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 224, + "end_frame": 327, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 73, + "arm": "left", + "kind": "close", + "start_frame": 66, + "end_frame": 80 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 231, + "arm": "left", + "kind": "open", + "start_frame": 224, + "end_frame": 238 + }, + { + "frame": 320, + "arm": "right", + "kind": "open", + "start_frame": 313, + "end_frame": 327 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000436.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000436.json new file mode 100644 index 0000000000000000000000000000000000000000..82cb8cc7724bdb2e382631bd426ac5f263e9f8c9 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000436.json @@ -0,0 +1,84 @@ +{ + "episode_index": 436, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000437.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000437.json new file mode 100644 index 0000000000000000000000000000000000000000..ebb343fed26edb3c094fe81c17a89a8a4713adb6 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000437.json @@ -0,0 +1,84 @@ +{ + "episode_index": 437, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift, switch arms, and place the red block.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 276, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000438.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000438.json new file mode 100644 index 0000000000000000000000000000000000000000..cdb39ccb0ce05a735cc3a9f6873640cbaaca8dfa --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000438.json @@ -0,0 +1,84 @@ +{ + "episode_index": 438, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.", + "num_frames": 315, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 81, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 82, + "end_frame": 145, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 146, + "end_frame": 213, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 214, + "end_frame": 309, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "left", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 199, + "arm": "right", + "kind": "close", + "start_frame": 192, + "end_frame": 206 + }, + { + "frame": 221, + "arm": "left", + "kind": "open", + "start_frame": 214, + "end_frame": 228 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000439.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000439.json new file mode 100644 index 0000000000000000000000000000000000000000..a81ef6706b64b4a00981646cb81c0ac49ca1b717 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000439.json @@ -0,0 +1,84 @@ +{ + "episode_index": 439, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use left arm to grab the red block and place it on the pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000440.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000440.json new file mode 100644 index 0000000000000000000000000000000000000000..d5327f1946d0b6f4c1d59fc2ab47b48b4b466997 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000440.json @@ -0,0 +1,84 @@ +{ + "episode_index": 440, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000441.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000441.json new file mode 100644 index 0000000000000000000000000000000000000000..dcf4e878022b5b6816c1fe81e02fc41696aad7f3 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000441.json @@ -0,0 +1,84 @@ +{ + "episode_index": 441, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.", + "num_frames": 290, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 79, + "end_frame": 124, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 125, + "end_frame": 193, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 194, + "end_frame": 284, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 179, + "arm": "right", + "kind": "close", + "start_frame": 172, + "end_frame": 186 + }, + { + "frame": 201, + "arm": "left", + "kind": "open", + "start_frame": 194, + "end_frame": 208 + }, + { + "frame": 277, + "arm": "right", + "kind": "open", + "start_frame": 270, + "end_frame": 284 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000442.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000442.json new file mode 100644 index 0000000000000000000000000000000000000000..028549ed5fe657906849922103a780ba953ac57c --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000442.json @@ -0,0 +1,84 @@ +{ + "episode_index": 442, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block, transfer it, and set it on blue.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000443.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000443.json new file mode 100644 index 0000000000000000000000000000000000000000..0f1b7f0f563a96d333e9e7e40380bd9fc7ea35cd --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000443.json @@ -0,0 +1,84 @@ +{ + "episode_index": 443, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab red block, pass to the right arm, then drop on blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 115, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 116, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000444.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000444.json new file mode 100644 index 0000000000000000000000000000000000000000..a13c8365f36af5a4d90497f9968afdd0a0670098 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000444.json @@ -0,0 +1,84 @@ +{ + "episode_index": 444, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block, transfer it, and set it on blue.", + "num_frames": 284, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 118, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 119, + "end_frame": 187, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 188, + "end_frame": 278, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 173, + "arm": "right", + "kind": "close", + "start_frame": 166, + "end_frame": 180 + }, + { + "frame": 195, + "arm": "left", + "kind": "open", + "start_frame": 188, + "end_frame": 202 + }, + { + "frame": 271, + "arm": "right", + "kind": "open", + "start_frame": 264, + "end_frame": 278 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000445.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000445.json new file mode 100644 index 0000000000000000000000000000000000000000..b313283a509f002297742be979420deeaa35d76f --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000445.json @@ -0,0 +1,84 @@ +{ + "episode_index": 445, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with your left arm.", + "num_frames": 292, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 81, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 82, + "end_frame": 128, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 129, + "end_frame": 195, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 196, + "end_frame": 286, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 66, + "arm": "left", + "kind": "close", + "start_frame": 59, + "end_frame": 73 + }, + { + "frame": 181, + "arm": "right", + "kind": "close", + "start_frame": 174, + "end_frame": 188 + }, + { + "frame": 203, + "arm": "left", + "kind": "open", + "start_frame": 196, + "end_frame": 210 + }, + { + "frame": 279, + "arm": "right", + "kind": "open", + "start_frame": 272, + "end_frame": 286 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000446.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000446.json new file mode 100644 index 0000000000000000000000000000000000000000..a99269b7cefdd87cb30a6498bc359a2666d2e757 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000446.json @@ -0,0 +1,84 @@ +{ + "episode_index": 446, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grip the red block with the left arm and transfer it.", + "num_frames": 322, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 84, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 85, + "end_frame": 150, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 151, + "end_frame": 218, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 219, + "end_frame": 316, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 67, + "arm": "left", + "kind": "close", + "start_frame": 60, + "end_frame": 74 + }, + { + "frame": 204, + "arm": "right", + "kind": "close", + "start_frame": 197, + "end_frame": 211 + }, + { + "frame": 226, + "arm": "left", + "kind": "open", + "start_frame": 219, + "end_frame": 233 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000447.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000447.json new file mode 100644 index 0000000000000000000000000000000000000000..5c96134263a75f408a8c8f0d620232b001364b00 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000447.json @@ -0,0 +1,84 @@ +{ + "episode_index": 447, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000448.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000448.json new file mode 100644 index 0000000000000000000000000000000000000000..41407d6966ba9ead308f21b233340d48d98a6b90 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000448.json @@ -0,0 +1,84 @@ +{ + "episode_index": 448, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Move the red block from the left hand to the pad.", + "num_frames": 284, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 116, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 117, + "end_frame": 184, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 185, + "end_frame": 278, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 271, + "arm": "right", + "kind": "open", + "start_frame": 264, + "end_frame": 278 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000449.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000449.json new file mode 100644 index 0000000000000000000000000000000000000000..d8b49d378324492732610bfa8bb96b45c73cdd3a --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000449.json @@ -0,0 +1,84 @@ +{ + "episode_index": 449, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block with the left hand and pass it.", + "num_frames": 309, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 79, + "end_frame": 140, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 208, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 209, + "end_frame": 303, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 194, + "arm": "right", + "kind": "close", + "start_frame": 187, + "end_frame": 201 + }, + { + "frame": 216, + "arm": "left", + "kind": "open", + "start_frame": 209, + "end_frame": 223 + }, + { + "frame": 296, + "arm": "right", + "kind": "open", + "start_frame": 289, + "end_frame": 303 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000450.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000450.json new file mode 100644 index 0000000000000000000000000000000000000000..721c448c519c1ea420cc45a9bea952f541e5cd3d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000450.json @@ -0,0 +1,84 @@ +{ + "episode_index": 450, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "The left arm should grab the red block, hand it to the right, and put it on the blue pad.", + "num_frames": 321, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 89, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 90, + "end_frame": 140, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 208, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 209, + "end_frame": 315, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 71, + "arm": "left", + "kind": "close", + "start_frame": 64, + "end_frame": 78 + }, + { + "frame": 194, + "arm": "right", + "kind": "close", + "start_frame": 187, + "end_frame": 201 + }, + { + "frame": 216, + "arm": "left", + "kind": "open", + "start_frame": 209, + "end_frame": 223 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000451.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000451.json new file mode 100644 index 0000000000000000000000000000000000000000..a33e7b238c88c8d9f3b18e6c69a3359cf2c93795 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000451.json @@ -0,0 +1,84 @@ +{ + "episode_index": 451, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grab the red block.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 109, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 110, + "end_frame": 177, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 178, + "end_frame": 270, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 163, + "arm": "right", + "kind": "close", + "start_frame": 156, + "end_frame": 170 + }, + { + "frame": 185, + "arm": "left", + "kind": "open", + "start_frame": 178, + "end_frame": 192 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000452.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000452.json new file mode 100644 index 0000000000000000000000000000000000000000..2067e40f4b6cc62835b5f0f2e83cf75015912d81 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000452.json @@ -0,0 +1,84 @@ +{ + "episode_index": 452, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.", + "num_frames": 319, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 87, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 88, + "end_frame": 141, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 209, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 210, + "end_frame": 313, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 69, + "arm": "left", + "kind": "close", + "start_frame": 62, + "end_frame": 76 + }, + { + "frame": 195, + "arm": "right", + "kind": "close", + "start_frame": 188, + "end_frame": 202 + }, + { + "frame": 217, + "arm": "left", + "kind": "open", + "start_frame": 210, + "end_frame": 224 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000453.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000453.json new file mode 100644 index 0000000000000000000000000000000000000000..17e154717f30d426652385447a1e566d916281d7 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000453.json @@ -0,0 +1,84 @@ +{ + "episode_index": 453, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hand the red block to the right arm.", + "num_frames": 286, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 117, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 118, + "end_frame": 186, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 187, + "end_frame": 280, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 172, + "arm": "right", + "kind": "close", + "start_frame": 165, + "end_frame": 179 + }, + { + "frame": 194, + "arm": "left", + "kind": "open", + "start_frame": 187, + "end_frame": 201 + }, + { + "frame": 273, + "arm": "right", + "kind": "open", + "start_frame": 266, + "end_frame": 280 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000454.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000454.json new file mode 100644 index 0000000000000000000000000000000000000000..9962e9f1a9b1dd2a092bd8f8a448e85a8885b607 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000454.json @@ -0,0 +1,84 @@ +{ + "episode_index": 454, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use your arms to shift the red block.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000455.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000455.json new file mode 100644 index 0000000000000000000000000000000000000000..a244fbf0279d130a5633385ecba42030ad63cd25 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000455.json @@ -0,0 +1,84 @@ +{ + "episode_index": 455, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pass the red block from the left to the right.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000456.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000456.json new file mode 100644 index 0000000000000000000000000000000000000000..cb1f7eed814ed33195b0cf760471d7093dad3124 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000456.json @@ -0,0 +1,84 @@ +{ + "episode_index": 456, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Place the red block on the blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000457.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000457.json new file mode 100644 index 0000000000000000000000000000000000000000..1ac821fdb5ac3a1acd089fccf251dedc4cd4c6c7 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000457.json @@ -0,0 +1,84 @@ +{ + "episode_index": 457, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 116, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 117, + "end_frame": 184, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 185, + "end_frame": 277, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000458.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000458.json new file mode 100644 index 0000000000000000000000000000000000000000..4f1b404edc76e0c6f6c6cbfdd824d84baf6a80d7 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000458.json @@ -0,0 +1,84 @@ +{ + "episode_index": 458, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "The left arm should grab the red block, hand it to the right, and put it on the blue pad.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000459.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000459.json new file mode 100644 index 0000000000000000000000000000000000000000..4a6bb32e4f800b0450cdfc5cae84cbd3310ee5ac --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000459.json @@ -0,0 +1,84 @@ +{ + "episode_index": 459, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.", + "num_frames": 297, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 78, + "end_frame": 126, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 127, + "end_frame": 193, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 194, + "end_frame": 291, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 179, + "arm": "right", + "kind": "close", + "start_frame": 172, + "end_frame": 186 + }, + { + "frame": 201, + "arm": "left", + "kind": "open", + "start_frame": 194, + "end_frame": 208 + }, + { + "frame": 284, + "arm": "right", + "kind": "open", + "start_frame": 277, + "end_frame": 291 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000460.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000460.json new file mode 100644 index 0000000000000000000000000000000000000000..7289907c7124add049993c0dc1d69df8e6d0f8b7 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000460.json @@ -0,0 +1,84 @@ +{ + "episode_index": 460, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Set the red block on the blue pad gently.", + "num_frames": 306, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 79, + "end_frame": 138, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 206, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 207, + "end_frame": 300, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 192, + "arm": "right", + "kind": "close", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 214, + "arm": "left", + "kind": "open", + "start_frame": 207, + "end_frame": 221 + }, + { + "frame": 293, + "arm": "right", + "kind": "open", + "start_frame": 286, + "end_frame": 300 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000461.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000461.json new file mode 100644 index 0000000000000000000000000000000000000000..de40d38d48b6505bf959ad8a00d1c1aadb0b7b40 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000461.json @@ -0,0 +1,84 @@ +{ + "episode_index": 461, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block using the left arm and hand it over.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 111, + "end_frame": 178, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 179, + "end_frame": 270, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000462.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000462.json new file mode 100644 index 0000000000000000000000000000000000000000..8928ba339dd801d5b5737c0fbaeb9a208347e970 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000462.json @@ -0,0 +1,84 @@ +{ + "episode_index": 462, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 109, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 110, + "end_frame": 177, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 178, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 163, + "arm": "right", + "kind": "close", + "start_frame": 156, + "end_frame": 170 + }, + { + "frame": 185, + "arm": "left", + "kind": "open", + "start_frame": 178, + "end_frame": 192 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000463.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000463.json new file mode 100644 index 0000000000000000000000000000000000000000..c275765785f0021d26bbf862dee8a110f38382f0 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000463.json @@ -0,0 +1,84 @@ +{ + "episode_index": 463, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hand over the red block to the right arm.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000464.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000464.json new file mode 100644 index 0000000000000000000000000000000000000000..d65aaebc4bf7d66bc1e2bfc5692a251aca1d0857 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000464.json @@ -0,0 +1,84 @@ +{ + "episode_index": 464, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.", + "num_frames": 284, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 116, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 117, + "end_frame": 184, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 185, + "end_frame": 278, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 271, + "arm": "right", + "kind": "open", + "start_frame": 264, + "end_frame": 278 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000465.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000465.json new file mode 100644 index 0000000000000000000000000000000000000000..b3eada2b6724688e05b8fbe3b5eb65be263723b0 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000465.json @@ -0,0 +1,84 @@ +{ + "episode_index": 465, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hand over the red block to the right arm.", + "num_frames": 286, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 118, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 119, + "end_frame": 186, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 187, + "end_frame": 280, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 172, + "arm": "right", + "kind": "close", + "start_frame": 165, + "end_frame": 179 + }, + { + "frame": 194, + "arm": "left", + "kind": "open", + "start_frame": 187, + "end_frame": 201 + }, + { + "frame": 273, + "arm": "right", + "kind": "open", + "start_frame": 266, + "end_frame": 280 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000466.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000466.json new file mode 100644 index 0000000000000000000000000000000000000000..fca8b775b5341a6dfa018a8d29421c5ff186904d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000466.json @@ -0,0 +1,84 @@ +{ + "episode_index": 466, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hold the red block, transfer to the right arm, then set it down.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000467.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000467.json new file mode 100644 index 0000000000000000000000000000000000000000..5b9f8181a74285e39f2bb0567d63b512331d8dca --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000467.json @@ -0,0 +1,84 @@ +{ + "episode_index": 467, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hand the red block to the right arm.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000468.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000468.json new file mode 100644 index 0000000000000000000000000000000000000000..7182d0474238fd15b2cc9c4b75013e1cd91e8d2e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000468.json @@ -0,0 +1,84 @@ +{ + "episode_index": 468, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000469.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000469.json new file mode 100644 index 0000000000000000000000000000000000000000..f393b673e96a2d0b4d98499a730542614dd3a83f --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000469.json @@ -0,0 +1,84 @@ +{ + "episode_index": 469, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up and handover the red block.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000470.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000470.json new file mode 100644 index 0000000000000000000000000000000000000000..d0b369fde24b7033f1e0bae3eebcb5e011f53d67 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000470.json @@ -0,0 +1,84 @@ +{ + "episode_index": 470, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block, hand it over, and place it properly.", + "num_frames": 287, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 79, + "end_frame": 120, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 121, + "end_frame": 188, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 189, + "end_frame": 281, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 174, + "arm": "right", + "kind": "close", + "start_frame": 167, + "end_frame": 181 + }, + { + "frame": 196, + "arm": "left", + "kind": "open", + "start_frame": 189, + "end_frame": 203 + }, + { + "frame": 274, + "arm": "right", + "kind": "open", + "start_frame": 267, + "end_frame": 281 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000471.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000471.json new file mode 100644 index 0000000000000000000000000000000000000000..5f08a6c32c3a47f0716cf1b43ba495eeaa98edeb --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000471.json @@ -0,0 +1,84 @@ +{ + "episode_index": 471, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift, switch arms, and place the red block.", + "num_frames": 295, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 79, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 80, + "end_frame": 128, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 129, + "end_frame": 196, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 197, + "end_frame": 289, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "left", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 182, + "arm": "right", + "kind": "close", + "start_frame": 175, + "end_frame": 189 + }, + { + "frame": 204, + "arm": "left", + "kind": "open", + "start_frame": 197, + "end_frame": 211 + }, + { + "frame": 282, + "arm": "right", + "kind": "open", + "start_frame": 275, + "end_frame": 289 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000472.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000472.json new file mode 100644 index 0000000000000000000000000000000000000000..4ce0e8b8723108985003c32446e8cd2d50fc601e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000472.json @@ -0,0 +1,84 @@ +{ + "episode_index": 472, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Set the red block on the blue pad gently.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000473.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000473.json new file mode 100644 index 0000000000000000000000000000000000000000..d4769f750e160eea70bfc8c4d0629e63a6e25972 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000473.json @@ -0,0 +1,84 @@ +{ + "episode_index": 473, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hold the red block, transfer to the right arm, then set it down.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 276, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000474.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000474.json new file mode 100644 index 0000000000000000000000000000000000000000..f8317ef5de0ab58b5bc8d180588589bb55e31ea8 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000474.json @@ -0,0 +1,84 @@ +{ + "episode_index": 474, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use left arm to grab the block and hand it to the right.", + "num_frames": 290, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 77, + "end_frame": 121, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 122, + "end_frame": 189, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 190, + "end_frame": 284, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 175, + "arm": "right", + "kind": "close", + "start_frame": 168, + "end_frame": 182 + }, + { + "frame": 197, + "arm": "left", + "kind": "open", + "start_frame": 190, + "end_frame": 204 + }, + { + "frame": 277, + "arm": "right", + "kind": "open", + "start_frame": 270, + "end_frame": 284 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000475.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000475.json new file mode 100644 index 0000000000000000000000000000000000000000..aaa083b37a60d5581387df4e6fb01702c8261492 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000475.json @@ -0,0 +1,84 @@ +{ + "episode_index": 475, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block with the left arm and transfer to the right.", + "num_frames": 287, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 121, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 122, + "end_frame": 189, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 190, + "end_frame": 281, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 175, + "arm": "right", + "kind": "close", + "start_frame": 168, + "end_frame": 182 + }, + { + "frame": 197, + "arm": "left", + "kind": "open", + "start_frame": 190, + "end_frame": 204 + }, + { + "frame": 274, + "arm": "right", + "kind": "open", + "start_frame": 267, + "end_frame": 281 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000476.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000476.json new file mode 100644 index 0000000000000000000000000000000000000000..7cb671140856fff1c820a9e4404589c3e7acf039 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000476.json @@ -0,0 +1,84 @@ +{ + "episode_index": 476, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000477.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000477.json new file mode 100644 index 0000000000000000000000000000000000000000..244cf846b430bd4fa80b4d006501ff2fe5ee1d58 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000477.json @@ -0,0 +1,84 @@ +{ + "episode_index": 477, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 77, + "end_frame": 117, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 118, + "end_frame": 184, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 185, + "end_frame": 276, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000478.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000478.json new file mode 100644 index 0000000000000000000000000000000000000000..e1c764fe83e261e43642d91f367d1375e69780e8 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000478.json @@ -0,0 +1,84 @@ +{ + "episode_index": 478, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block with the left hand and pass it.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 178, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 179, + "end_frame": 270, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000479.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000479.json new file mode 100644 index 0000000000000000000000000000000000000000..58e8f3b921f2c4e9f8a8bb73960878f7a654a504 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000479.json @@ -0,0 +1,84 @@ +{ + "episode_index": 479, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use left arm to grab the red block and place it on the pad.", + "num_frames": 285, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 79, + "end_frame": 119, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 120, + "end_frame": 187, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 188, + "end_frame": 279, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 173, + "arm": "right", + "kind": "close", + "start_frame": 166, + "end_frame": 180 + }, + { + "frame": 195, + "arm": "left", + "kind": "open", + "start_frame": 188, + "end_frame": 202 + }, + { + "frame": 272, + "arm": "right", + "kind": "open", + "start_frame": 265, + "end_frame": 279 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000480.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000480.json new file mode 100644 index 0000000000000000000000000000000000000000..1cc73a9d23d8937b30b77da812adc764840498db --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000480.json @@ -0,0 +1,84 @@ +{ + "episode_index": 480, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block, pass it to the right arm, and drop it.", + "num_frames": 289, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 77, + "end_frame": 121, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 122, + "end_frame": 189, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 190, + "end_frame": 283, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 175, + "arm": "right", + "kind": "close", + "start_frame": 168, + "end_frame": 182 + }, + { + "frame": 197, + "arm": "left", + "kind": "open", + "start_frame": 190, + "end_frame": 204 + }, + { + "frame": 276, + "arm": "right", + "kind": "open", + "start_frame": 269, + "end_frame": 283 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000481.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000481.json new file mode 100644 index 0000000000000000000000000000000000000000..f485b85c2168cb54b143b324a687644be1f454e4 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000481.json @@ -0,0 +1,84 @@ +{ + "episode_index": 481, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block, pass it to the right arm, and drop it.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000482.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000482.json new file mode 100644 index 0000000000000000000000000000000000000000..38ecec514a14aa337b0b85b241c50ffc7a78f682 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000482.json @@ -0,0 +1,84 @@ +{ + "episode_index": 482, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab red block, pass to the right arm, then drop on blue pad.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000483.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000483.json new file mode 100644 index 0000000000000000000000000000000000000000..1fade89cf0a6ab9ca04120c610a6c3961f154c80 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000483.json @@ -0,0 +1,84 @@ +{ + "episode_index": 483, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000484.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000484.json new file mode 100644 index 0000000000000000000000000000000000000000..b112d5571fbe5a387a14d69dd50a9761800e6a15 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000484.json @@ -0,0 +1,84 @@ +{ + "episode_index": 484, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grip the red block with the left arm and transfer it.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000485.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000485.json new file mode 100644 index 0000000000000000000000000000000000000000..05a830f058f73e2dc52a5e349ae9e36a0cd06e85 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000485.json @@ -0,0 +1,84 @@ +{ + "episode_index": 485, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block with the left arm and transfer to the right.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 276, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000486.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000486.json new file mode 100644 index 0000000000000000000000000000000000000000..63160969a95571583ab33f2fb76fe80ad5043c1d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000486.json @@ -0,0 +1,84 @@ +{ + "episode_index": 486, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Place the red block on the blue pad.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 109, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 110, + "end_frame": 177, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 178, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 163, + "arm": "right", + "kind": "close", + "start_frame": 156, + "end_frame": 170 + }, + { + "frame": 185, + "arm": "left", + "kind": "open", + "start_frame": 178, + "end_frame": 192 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000487.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000487.json new file mode 100644 index 0000000000000000000000000000000000000000..34b73b1e58f84ca52583eb349fd3c0502109304f --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000487.json @@ -0,0 +1,84 @@ +{ + "episode_index": 487, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hold the red block, transfer to the right arm, then set it down.", + "num_frames": 291, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 79, + "end_frame": 124, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 125, + "end_frame": 192, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 193, + "end_frame": 285, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 178, + "arm": "right", + "kind": "close", + "start_frame": 171, + "end_frame": 185 + }, + { + "frame": 200, + "arm": "left", + "kind": "open", + "start_frame": 193, + "end_frame": 207 + }, + { + "frame": 278, + "arm": "right", + "kind": "open", + "start_frame": 271, + "end_frame": 285 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000488.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000488.json new file mode 100644 index 0000000000000000000000000000000000000000..624536a46e6ba6cdff7fa0202d33cf693d06f8e0 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000488.json @@ -0,0 +1,84 @@ +{ + "episode_index": 488, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000489.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000489.json new file mode 100644 index 0000000000000000000000000000000000000000..faab51c58d4e206b9f3babe35259a28021f574a1 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000489.json @@ -0,0 +1,84 @@ +{ + "episode_index": 489, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block and move it to the pad.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 77, + "end_frame": 115, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 116, + "end_frame": 183, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 184, + "end_frame": 276, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000490.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000490.json new file mode 100644 index 0000000000000000000000000000000000000000..c308331997816c5b894c906ac36834a60fc696d0 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000490.json @@ -0,0 +1,84 @@ +{ + "episode_index": 490, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hold the red block, transfer to the right arm, then set it down.", + "num_frames": 325, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 86, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 87, + "end_frame": 144, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 145, + "end_frame": 212, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 213, + "end_frame": 319, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 71, + "arm": "left", + "kind": "close", + "start_frame": 64, + "end_frame": 78 + }, + { + "frame": 198, + "arm": "right", + "kind": "close", + "start_frame": 191, + "end_frame": 205 + }, + { + "frame": 220, + "arm": "left", + "kind": "open", + "start_frame": 213, + "end_frame": 227 + }, + { + "frame": 312, + "arm": "right", + "kind": "open", + "start_frame": 305, + "end_frame": 319 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000491.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000491.json new file mode 100644 index 0000000000000000000000000000000000000000..7ed1e895b249ab460dc096826368ea1d203d9c35 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000491.json @@ -0,0 +1,84 @@ +{ + "episode_index": 491, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block, pass it to the right arm, then place it.", + "num_frames": 309, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 88, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 89, + "end_frame": 135, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 136, + "end_frame": 203, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 204, + "end_frame": 303, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 72, + "arm": "left", + "kind": "close", + "start_frame": 65, + "end_frame": 79 + }, + { + "frame": 189, + "arm": "right", + "kind": "close", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 211, + "arm": "left", + "kind": "open", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 296, + "arm": "right", + "kind": "open", + "start_frame": 289, + "end_frame": 303 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000492.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000492.json new file mode 100644 index 0000000000000000000000000000000000000000..2165e1fa37c5c025c6e056baf6072d2f43ba7ab0 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000492.json @@ -0,0 +1,84 @@ +{ + "episode_index": 492, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block with the left hand and pass it.", + "num_frames": 274, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 109, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 110, + "end_frame": 176, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 177, + "end_frame": 268, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 162, + "arm": "right", + "kind": "close", + "start_frame": 155, + "end_frame": 169 + }, + { + "frame": 184, + "arm": "left", + "kind": "open", + "start_frame": 177, + "end_frame": 191 + }, + { + "frame": 261, + "arm": "right", + "kind": "open", + "start_frame": 254, + "end_frame": 268 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000493.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000493.json new file mode 100644 index 0000000000000000000000000000000000000000..5f7435a014ca4fdc0e5340e367ad86a34c563b0d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000493.json @@ -0,0 +1,84 @@ +{ + "episode_index": 493, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.", + "num_frames": 294, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 79, + "end_frame": 127, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 128, + "end_frame": 195, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 196, + "end_frame": 288, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 181, + "arm": "right", + "kind": "close", + "start_frame": 174, + "end_frame": 188 + }, + { + "frame": 203, + "arm": "left", + "kind": "open", + "start_frame": 196, + "end_frame": 210 + }, + { + "frame": 281, + "arm": "right", + "kind": "open", + "start_frame": 274, + "end_frame": 288 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000494.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000494.json new file mode 100644 index 0000000000000000000000000000000000000000..dfea875e088c73746e7e0c429643f25b3e917ce0 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000494.json @@ -0,0 +1,84 @@ +{ + "episode_index": 494, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use your arms to shift the red block.", + "num_frames": 310, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 82, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 83, + "end_frame": 137, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 205, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 206, + "end_frame": 304, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 65, + "arm": "left", + "kind": "close", + "start_frame": 58, + "end_frame": 72 + }, + { + "frame": 191, + "arm": "right", + "kind": "close", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 213, + "arm": "left", + "kind": "open", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 297, + "arm": "right", + "kind": "open", + "start_frame": 290, + "end_frame": 304 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000495.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000495.json new file mode 100644 index 0000000000000000000000000000000000000000..f9cba75b1ade92afb4f21824acb98b1889539351 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000495.json @@ -0,0 +1,84 @@ +{ + "episode_index": 495, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up and handover the red block.", + "num_frames": 291, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 77, + "end_frame": 120, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 121, + "end_frame": 188, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 189, + "end_frame": 285, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 174, + "arm": "right", + "kind": "close", + "start_frame": 167, + "end_frame": 181 + }, + { + "frame": 196, + "arm": "left", + "kind": "open", + "start_frame": 189, + "end_frame": 203 + }, + { + "frame": 278, + "arm": "right", + "kind": "open", + "start_frame": 271, + "end_frame": 285 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000496.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000496.json new file mode 100644 index 0000000000000000000000000000000000000000..4351b12dd98e0b35cf79ccf2ee290a4623cda74b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000496.json @@ -0,0 +1,84 @@ +{ + "episode_index": 496, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block, transfer it, and set it on blue.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000497.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000497.json new file mode 100644 index 0000000000000000000000000000000000000000..c019ca36b175e96bae8553026b70a29c4b214ecb --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000497.json @@ -0,0 +1,84 @@ +{ + "episode_index": 497, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block and move it to the pad.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000498.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000498.json new file mode 100644 index 0000000000000000000000000000000000000000..3517c6a7de0a8b03195b4c6947956f8da19ba86e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000498.json @@ -0,0 +1,84 @@ +{ + "episode_index": 498, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000499.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000499.json new file mode 100644 index 0000000000000000000000000000000000000000..a0b2bcb9201eca89f9a516beacd76b9025bdeafc --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000499.json @@ -0,0 +1,84 @@ +{ + "episode_index": 499, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the block with the left arm, pass it to the right arm.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the red block to the handover position with the left arm.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 276, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000000.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..8e57f931012308dae7a107d83473cc74077a1a37 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000000.json @@ -0,0 +1,84 @@ +{ + "episode_index": 0, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block, pass it to the right arm, and drop it.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000001.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..83bf5d40df398589e7cc3d2e15adc8f7fca1c8e4 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000001.json @@ -0,0 +1,84 @@ +{ + "episode_index": 1, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000002.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..d580baa68ef453082bccd1204e31cbf781cf22ad --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000002.json @@ -0,0 +1,84 @@ +{ + "episode_index": 2, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000003.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..55683dfaee4c0199a81b05c079bcd1c1e6ed7078 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000003.json @@ -0,0 +1,84 @@ +{ + "episode_index": 3, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use your arms to shift the red block.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000004.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..b2f60cafd208ee7d7822aae6c4afd110669342b7 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000004.json @@ -0,0 +1,84 @@ +{ + "episode_index": 4, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 115, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 116, + "end_frame": 184, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 185, + "end_frame": 277, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000005.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..797858632b65e52a069695ec725d882602fb95f8 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000005.json @@ -0,0 +1,84 @@ +{ + "episode_index": 5, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.", + "num_frames": 275, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 108, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 109, + "end_frame": 176, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 177, + "end_frame": 269, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 162, + "arm": "right", + "kind": "close", + "start_frame": 155, + "end_frame": 169 + }, + { + "frame": 184, + "arm": "left", + "kind": "open", + "start_frame": 177, + "end_frame": 191 + }, + { + "frame": 262, + "arm": "right", + "kind": "open", + "start_frame": 255, + "end_frame": 269 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000006.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..4ba47a0725ccbcf3cd41b5c26c4c73a99e8150fa --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000006.json @@ -0,0 +1,84 @@ +{ + "episode_index": 6, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000007.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..cedfe5bca2df46c748e64a00ee6eff80ba7ba52f --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000007.json @@ -0,0 +1,84 @@ +{ + "episode_index": 7, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.", + "num_frames": 289, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 77, + "end_frame": 122, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 123, + "end_frame": 190, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 191, + "end_frame": 283, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 176, + "arm": "right", + "kind": "close", + "start_frame": 169, + "end_frame": 183 + }, + { + "frame": 198, + "arm": "left", + "kind": "open", + "start_frame": 191, + "end_frame": 205 + }, + { + "frame": 276, + "arm": "right", + "kind": "open", + "start_frame": 269, + "end_frame": 283 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000008.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..683e8cb8bbe5a5b21faece0253ad7467e6895ff7 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000008.json @@ -0,0 +1,84 @@ +{ + "episode_index": 8, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.", + "num_frames": 295, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": 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"after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "left", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 182, + "arm": "right", + "kind": "close", + "start_frame": 175, + "end_frame": 189 + }, + { + "frame": 204, + "arm": "left", + "kind": "open", + "start_frame": 197, + "end_frame": 211 + }, + { + "frame": 282, + "arm": "right", + "kind": "open", + "start_frame": 275, + "end_frame": 289 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000009.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..b9e745111fb3745caff3d14fdac6f3219ffe09bd --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000009.json @@ -0,0 +1,84 @@ +{ + "episode_index": 9, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hand the red block to the right arm.", + "num_frames": 284, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 118, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 119, + "end_frame": 186, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 187, + "end_frame": 278, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 172, + "arm": "right", + "kind": "close", + "start_frame": 165, + "end_frame": 179 + }, + { + "frame": 194, + "arm": "left", + "kind": "open", + "start_frame": 187, + "end_frame": 201 + }, + { + "frame": 271, + "arm": "right", + "kind": "open", + "start_frame": 264, + "end_frame": 278 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000010.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000010.json new file mode 100644 index 0000000000000000000000000000000000000000..930193a0d61965df572dcc9a204caa276d5b97d8 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000010.json @@ -0,0 +1,84 @@ +{ + "episode_index": 10, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab red block, pass to the right arm, then drop on blue pad.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 115, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 116, + "end_frame": 183, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 184, + "end_frame": 276, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000011.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000011.json new file mode 100644 index 0000000000000000000000000000000000000000..2e50bc2e1aa00905b19a7d36eaf6e2a2b93a97cb --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000011.json @@ -0,0 +1,84 @@ +{ + "episode_index": 11, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hold the red block, transfer to the right arm, then set it down.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000012.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000012.json new file mode 100644 index 0000000000000000000000000000000000000000..f3b4f917cc56cdc5c5e53ed7d8351b94152a7dd1 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000012.json @@ -0,0 +1,84 @@ +{ + "episode_index": 12, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block, hand it to the right arm, then set it down.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 110, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 111, + "end_frame": 178, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 179, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000013.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000013.json new file mode 100644 index 0000000000000000000000000000000000000000..bca979377489292214f83d1878df1875a63f79fa --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000013.json @@ -0,0 +1,84 @@ +{ + "episode_index": 13, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.", + "num_frames": 348, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 94, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 95, + "end_frame": 167, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 168, + "end_frame": 235, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 236, + "end_frame": 342, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 75, + "arm": "left", + "kind": "close", + "start_frame": 68, + "end_frame": 82 + }, + { + "frame": 221, + "arm": "right", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + }, + { + "frame": 243, + "arm": "left", + "kind": "open", + "start_frame": 236, + "end_frame": 250 + }, + { + "frame": 335, + "arm": "right", + "kind": "open", + "start_frame": 328, + "end_frame": 342 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000014.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000014.json new file mode 100644 index 0000000000000000000000000000000000000000..4f107a85aea2c7c294e6761b7c2e1bb938c730f3 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000014.json @@ -0,0 +1,84 @@ +{ + "episode_index": 14, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "The left arm should grab the red block, hand it to the right, and put it on the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 77, + "end_frame": 115, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 116, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000015.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000015.json new file mode 100644 index 0000000000000000000000000000000000000000..0afd14a6fbfce2b8b1a7a0ac8c62ab4edd195138 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000015.json @@ -0,0 +1,84 @@ +{ + "episode_index": 15, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Place the red block on the blue pad.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000016.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000016.json new file mode 100644 index 0000000000000000000000000000000000000000..d7c3536d2e1544e103edd36e6ea5cf93bb4d3cf5 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000016.json @@ -0,0 +1,84 @@ +{ + "episode_index": 16, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Set the red block on the blue pad gently.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000017.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000017.json new file mode 100644 index 0000000000000000000000000000000000000000..9e7126118a8f73a45140dc3eceb84c7f7dcc3a3a --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000017.json @@ -0,0 +1,84 @@ +{ + "episode_index": 17, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block, hand it to the right arm, then set it down.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000018.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000018.json new file mode 100644 index 0000000000000000000000000000000000000000..54250a5bd05e40f20bbc9ac93fbde9799f45631b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000018.json @@ -0,0 +1,84 @@ +{ + "episode_index": 18, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the block with the left arm, pass it to the right arm.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000019.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000019.json new file mode 100644 index 0000000000000000000000000000000000000000..793826ef916df1c78705399e375086107ea8020e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000019.json @@ -0,0 +1,84 @@ +{ + "episode_index": 19, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 111, + "end_frame": 178, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 179, + "end_frame": 270, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000020.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000020.json new file mode 100644 index 0000000000000000000000000000000000000000..6baebf95207da169714a1b43814fb4858594e396 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000020.json @@ -0,0 +1,84 @@ +{ + "episode_index": 20, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.", + "num_frames": 290, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 77, + "end_frame": 124, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 125, + "end_frame": 192, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 193, + "end_frame": 284, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 178, + "arm": "right", + "kind": "close", + "start_frame": 171, + "end_frame": 185 + }, + { + "frame": 200, + "arm": "left", + "kind": "open", + "start_frame": 193, + "end_frame": 207 + }, + { + "frame": 277, + "arm": "right", + "kind": "open", + "start_frame": 270, + "end_frame": 284 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000021.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000021.json new file mode 100644 index 0000000000000000000000000000000000000000..49fcf4cf8b99456ba0b4ef8da4260146315ba725 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000021.json @@ -0,0 +1,84 @@ +{ + "episode_index": 21, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block using the left arm and hand it over.", + "num_frames": 294, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 79, + "end_frame": 127, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 128, + "end_frame": 195, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 196, + "end_frame": 288, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 181, + "arm": "right", + "kind": "close", + "start_frame": 174, + "end_frame": 188 + }, + { + "frame": 203, + "arm": "left", + "kind": "open", + "start_frame": 196, + "end_frame": 210 + }, + { + "frame": 281, + "arm": "right", + "kind": "open", + "start_frame": 274, + "end_frame": 288 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000022.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000022.json new file mode 100644 index 0000000000000000000000000000000000000000..38f1d3fd08591167db28177cc4d6550c8d0661b2 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000022.json @@ -0,0 +1,84 @@ +{ + "episode_index": 22, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000023.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000023.json new file mode 100644 index 0000000000000000000000000000000000000000..69da91baa6029a13cba08c735eae05308153ecba --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000023.json @@ -0,0 +1,84 @@ +{ + "episode_index": 23, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use left arm to grab the block and hand it to the right.", + "num_frames": 304, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 80, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 81, + "end_frame": 134, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 135, + "end_frame": 202, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 203, + "end_frame": 298, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 188, + "arm": "right", + "kind": "close", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 210, + "arm": "left", + "kind": "open", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 291, + "arm": "right", + "kind": "open", + "start_frame": 284, + "end_frame": 298 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000024.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000024.json new file mode 100644 index 0000000000000000000000000000000000000000..b30d87fbd6453d30d8a8c3bff5438b08468fc192 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000024.json @@ -0,0 +1,84 @@ +{ + "episode_index": 24, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift, switch arms, and place the red block.", + "num_frames": 287, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 77, + "end_frame": 118, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 119, + "end_frame": 186, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 187, + "end_frame": 281, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 172, + "arm": "right", + "kind": "close", + "start_frame": 165, + "end_frame": 179 + }, + { + "frame": 194, + "arm": "left", + "kind": "open", + "start_frame": 187, + "end_frame": 201 + }, + { + "frame": 274, + "arm": "right", + "kind": "open", + "start_frame": 267, + "end_frame": 281 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000025.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000025.json new file mode 100644 index 0000000000000000000000000000000000000000..63f32a725a82810a43608cf2ad544255e5370f55 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000025.json @@ -0,0 +1,84 @@ +{ + "episode_index": 25, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.", + "num_frames": 289, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 117, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 118, + "end_frame": 185, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 186, + "end_frame": 283, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 171, + "arm": "right", + "kind": "close", + "start_frame": 164, + "end_frame": 178 + }, + { + "frame": 193, + "arm": "left", + "kind": "open", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 276, + "arm": "right", + "kind": "open", + "start_frame": 269, + "end_frame": 283 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000026.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000026.json new file mode 100644 index 0000000000000000000000000000000000000000..1cfc2c0abfda64555e5bf1a55375f8d368ea060e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000026.json @@ -0,0 +1,84 @@ +{ + "episode_index": 26, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.", + "num_frames": 325, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 95, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 96, + "end_frame": 147, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 148, + "end_frame": 215, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 216, + "end_frame": 319, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 77, + "arm": "left", + "kind": "close", + "start_frame": 70, + "end_frame": 84 + }, + { + "frame": 201, + "arm": "right", + "kind": "close", + "start_frame": 194, + "end_frame": 208 + }, + { + "frame": 223, + "arm": "left", + "kind": "open", + "start_frame": 216, + "end_frame": 230 + }, + { + "frame": 312, + "arm": "right", + "kind": "open", + "start_frame": 305, + "end_frame": 319 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000027.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000027.json new file mode 100644 index 0000000000000000000000000000000000000000..330afbc7240133ebcef846d0705999cf23547aee --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000027.json @@ -0,0 +1,84 @@ +{ + "episode_index": 27, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hand the red block to the right arm.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 276, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000028.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000028.json new file mode 100644 index 0000000000000000000000000000000000000000..a15dfb31f40f20699e1144ec27a5902ad581dce6 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000028.json @@ -0,0 +1,84 @@ +{ + "episode_index": 28, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000029.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000029.json new file mode 100644 index 0000000000000000000000000000000000000000..1d95b8d8210601893f17e3f6a148c9a990726757 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000029.json @@ -0,0 +1,84 @@ +{ + "episode_index": 29, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 277, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000030.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000030.json new file mode 100644 index 0000000000000000000000000000000000000000..adc1e20893fa27f6a34f7cd9931bdb1c7cc17f56 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000030.json @@ -0,0 +1,84 @@ +{ + "episode_index": 30, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use left arm to grab the red block and place it on the pad.", + "num_frames": 287, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 79, + "end_frame": 120, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 121, + "end_frame": 188, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 189, + "end_frame": 281, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 174, + "arm": "right", + "kind": "close", + "start_frame": 167, + "end_frame": 181 + }, + { + "frame": 196, + "arm": "left", + "kind": "open", + "start_frame": 189, + "end_frame": 203 + }, + { + "frame": 274, + "arm": "right", + "kind": "open", + "start_frame": 267, + "end_frame": 281 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000031.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000031.json new file mode 100644 index 0000000000000000000000000000000000000000..877db024cf49152c919f7f5339ebb939d9371928 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000031.json @@ -0,0 +1,84 @@ +{ + "episode_index": 31, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Move the red block from the left hand to the pad.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 115, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 116, + "end_frame": 183, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 184, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000032.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000032.json new file mode 100644 index 0000000000000000000000000000000000000000..d2cfbcc3158244f45807dc9f4f5ca688d69dfddb --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000032.json @@ -0,0 +1,84 @@ +{ + "episode_index": 32, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hand the red block to the right arm.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 115, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 116, + "end_frame": 183, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 184, + "end_frame": 277, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000033.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000033.json new file mode 100644 index 0000000000000000000000000000000000000000..074400de6a9f0963a0c31e78a9c00dc29352f7de --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000033.json @@ -0,0 +1,84 @@ +{ + "episode_index": 33, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000034.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000034.json new file mode 100644 index 0000000000000000000000000000000000000000..be99b514e6014e6b27fc7c273489cd9c53cfd3cf --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000034.json @@ -0,0 +1,84 @@ +{ + "episode_index": 34, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 115, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 116, + "end_frame": 183, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 184, + "end_frame": 276, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000035.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000035.json new file mode 100644 index 0000000000000000000000000000000000000000..c72684754cd1b5bf694bae627b1ced476eb20b5a --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000035.json @@ -0,0 +1,84 @@ +{ + "episode_index": 35, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block, transfer it, and set it on blue.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000036.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000036.json new file mode 100644 index 0000000000000000000000000000000000000000..92795c29517dd87a2247bb61afbba185a4e4cb55 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000036.json @@ -0,0 +1,84 @@ +{ + "episode_index": 36, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block and transfer to the right.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 178, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 179, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000037.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000037.json new file mode 100644 index 0000000000000000000000000000000000000000..537ffb2a78f693c7237930660b52f9782a3ab433 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000037.json @@ -0,0 +1,84 @@ +{ + "episode_index": 37, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Move the red block using the left arm.", + "num_frames": 291, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 80, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 81, + "end_frame": 124, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 125, + "end_frame": 192, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 193, + "end_frame": 285, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 65, + "arm": "left", + "kind": "close", + "start_frame": 58, + "end_frame": 72 + }, + { + "frame": 178, + "arm": "right", + "kind": "close", + "start_frame": 171, + "end_frame": 185 + }, + { + "frame": 200, + "arm": "left", + "kind": "open", + "start_frame": 193, + "end_frame": 207 + }, + { + "frame": 278, + "arm": "right", + "kind": "open", + "start_frame": 271, + "end_frame": 285 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000038.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000038.json new file mode 100644 index 0000000000000000000000000000000000000000..a2eefa534d9bedebd31424d4e1909e4c157a6f28 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000038.json @@ -0,0 +1,84 @@ +{ + "episode_index": 38, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.", + "num_frames": 288, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 78, + "end_frame": 121, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 122, + "end_frame": 189, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 190, + "end_frame": 282, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 175, + "arm": "right", + "kind": "close", + "start_frame": 168, + "end_frame": 182 + }, + { + "frame": 197, + "arm": "left", + "kind": "open", + "start_frame": 190, + "end_frame": 204 + }, + { + "frame": 275, + "arm": "right", + "kind": "open", + "start_frame": 268, + "end_frame": 282 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000039.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000039.json new file mode 100644 index 0000000000000000000000000000000000000000..83765e2d9a7f9dce00aa58cac2b88028c87eaf3f --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000039.json @@ -0,0 +1,84 @@ +{ + "episode_index": 39, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 115, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 116, + "end_frame": 183, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 184, + "end_frame": 277, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000040.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000040.json new file mode 100644 index 0000000000000000000000000000000000000000..91a86c8422b5580c6fe9d3b451af0aadb0fbf70a --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000040.json @@ -0,0 +1,84 @@ +{ + "episode_index": 40, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Move the red block from the left hand to the pad.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 276, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000041.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000041.json new file mode 100644 index 0000000000000000000000000000000000000000..e5a2178175b4b3ea0925414521d84cd7586557ef --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000041.json @@ -0,0 +1,84 @@ +{ + "episode_index": 41, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Move the red block from the left hand to the pad.", + "num_frames": 321, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 90, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 91, + "end_frame": 140, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 208, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 209, + "end_frame": 315, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 71, + "arm": "left", + "kind": "close", + "start_frame": 64, + "end_frame": 78 + }, + { + "frame": 194, + "arm": "right", + "kind": "close", + "start_frame": 187, + "end_frame": 201 + }, + { + "frame": 216, + "arm": "left", + "kind": "open", + "start_frame": 209, + "end_frame": 223 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000042.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000042.json new file mode 100644 index 0000000000000000000000000000000000000000..01a4044c0a24f0a97a1cb45a4bfb6e8d6325c3bb --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000042.json @@ -0,0 +1,84 @@ +{ + "episode_index": 42, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.", + "num_frames": 287, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 116, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 117, + "end_frame": 184, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 185, + "end_frame": 281, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 274, + "arm": "right", + "kind": "open", + "start_frame": 267, + "end_frame": 281 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000043.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000043.json new file mode 100644 index 0000000000000000000000000000000000000000..54e0d110c326a54aa6d254e9d8c59f9fb17e1df3 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000043.json @@ -0,0 +1,84 @@ +{ + "episode_index": 43, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Set the red block on the blue pad gently.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 116, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 117, + "end_frame": 184, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 185, + "end_frame": 276, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000044.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000044.json new file mode 100644 index 0000000000000000000000000000000000000000..2cb3250dad34325f321f2b9410f7825a3991d3ac --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000044.json @@ -0,0 +1,84 @@ +{ + "episode_index": 44, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000045.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000045.json new file mode 100644 index 0000000000000000000000000000000000000000..b7852218d188ac1a7505e3c6cfb03c6c0c005615 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000045.json @@ -0,0 +1,84 @@ +{ + "episode_index": 45, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with your left arm.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 110, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 111, + "end_frame": 178, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 179, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000046.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000046.json new file mode 100644 index 0000000000000000000000000000000000000000..71d3af4997310fda26afa5f7b5bd06d3d83f2dfc --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000046.json @@ -0,0 +1,84 @@ +{ + "episode_index": 46, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use left arm to grab the block and hand it to the right.", + "num_frames": 293, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 79, + "end_frame": 128, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 129, + "end_frame": 195, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 196, + "end_frame": 287, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 181, + "arm": "right", + "kind": "close", + "start_frame": 174, + "end_frame": 188 + }, + { + "frame": 203, + "arm": "left", + "kind": "open", + "start_frame": 196, + "end_frame": 210 + }, + { + "frame": 280, + "arm": "right", + "kind": "open", + "start_frame": 273, + "end_frame": 287 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000047.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000047.json new file mode 100644 index 0000000000000000000000000000000000000000..b0f0ea73dd26df0b2f8496111b7e8e2417d9baf2 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000047.json @@ -0,0 +1,84 @@ +{ + "episode_index": 47, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.", + "num_frames": 285, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 117, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 118, + "end_frame": 185, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 186, + "end_frame": 279, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 171, + "arm": "right", + "kind": "close", + "start_frame": 164, + "end_frame": 178 + }, + { + "frame": 193, + "arm": "left", + "kind": "open", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 272, + "arm": "right", + "kind": "open", + "start_frame": 265, + "end_frame": 279 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000048.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000048.json new file mode 100644 index 0000000000000000000000000000000000000000..ccc595bdac15146a7083870b1b45dead5631722c --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000048.json @@ -0,0 +1,84 @@ +{ + "episode_index": 48, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab red block, pass to the right arm, then drop on blue pad.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 115, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 116, + "end_frame": 183, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 184, + "end_frame": 277, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000049.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000049.json new file mode 100644 index 0000000000000000000000000000000000000000..2dd37a4c44fed472df97f9e737bad4c21b75e255 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000049.json @@ -0,0 +1,84 @@ +{ + "episode_index": 49, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000050.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000050.json new file mode 100644 index 0000000000000000000000000000000000000000..44cc47041189c71212ee1447da9fbf913d959335 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000050.json @@ -0,0 +1,84 @@ +{ + "episode_index": 50, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 306, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 81, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 82, + "end_frame": 136, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 204, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 205, + "end_frame": 300, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "left", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 190, + "arm": "right", + "kind": "close", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 212, + "arm": "left", + "kind": "open", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 293, + "arm": "right", + "kind": "open", + "start_frame": 286, + "end_frame": 300 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000051.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000051.json new file mode 100644 index 0000000000000000000000000000000000000000..2274ff1e1f9fc8d5ec284467c9f091f75a09f0bc --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000051.json @@ -0,0 +1,84 @@ +{ + "episode_index": 51, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift, switch arms, and place the red block.", + "num_frames": 286, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 117, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 118, + "end_frame": 185, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 186, + "end_frame": 280, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 171, + "arm": "right", + "kind": "close", + "start_frame": 164, + "end_frame": 178 + }, + { + "frame": 193, + "arm": "left", + "kind": "open", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 273, + "arm": "right", + "kind": "open", + "start_frame": 266, + "end_frame": 280 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000052.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000052.json new file mode 100644 index 0000000000000000000000000000000000000000..726b8a56701471cd18981f023189b9506df8b33c --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000052.json @@ -0,0 +1,84 @@ +{ + "episode_index": 52, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.", + "num_frames": 287, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 79, + "end_frame": 120, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 121, + "end_frame": 188, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 189, + "end_frame": 281, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 174, + "arm": "right", + "kind": "close", + "start_frame": 167, + "end_frame": 181 + }, + { + "frame": 196, + "arm": "left", + "kind": "open", + "start_frame": 189, + "end_frame": 203 + }, + { + "frame": 274, + "arm": "right", + "kind": "open", + "start_frame": 267, + "end_frame": 281 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000053.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000053.json new file mode 100644 index 0000000000000000000000000000000000000000..c8384faa88b698d066ca87c53d6915dc9ec900a1 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000053.json @@ -0,0 +1,84 @@ +{ + "episode_index": 53, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000054.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000054.json new file mode 100644 index 0000000000000000000000000000000000000000..1963c65f4b0d3bbcd0357212b6cc927ad4b21c8b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000054.json @@ -0,0 +1,84 @@ +{ + "episode_index": 54, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 95, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 96, + "end_frame": 148, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 149, + "end_frame": 216, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 217, + "end_frame": 326, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 77, + "arm": "left", + "kind": "close", + "start_frame": 70, + "end_frame": 84 + }, + { + "frame": 202, + "arm": "right", + "kind": "close", + "start_frame": 195, + "end_frame": 209 + }, + { + "frame": 224, + "arm": "left", + "kind": "open", + "start_frame": 217, + "end_frame": 231 + }, + { + "frame": 319, + "arm": "right", + "kind": "open", + "start_frame": 312, + "end_frame": 326 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000055.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000055.json new file mode 100644 index 0000000000000000000000000000000000000000..b370975ab7f64c8ced179db238f16aac43ef5edb --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000055.json @@ -0,0 +1,84 @@ +{ + "episode_index": 55, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.", + "num_frames": 320, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 88, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 89, + "end_frame": 142, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 210, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 211, + "end_frame": 314, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 70, + "arm": "left", + "kind": "close", + "start_frame": 63, + "end_frame": 77 + }, + { + "frame": 196, + "arm": "right", + "kind": "close", + "start_frame": 189, + "end_frame": 203 + }, + { + "frame": 218, + "arm": "left", + "kind": "open", + "start_frame": 211, + "end_frame": 225 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000056.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000056.json new file mode 100644 index 0000000000000000000000000000000000000000..2ca259d8403a12c0074d85a835126db93406a3f5 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000056.json @@ -0,0 +1,84 @@ +{ + "episode_index": 56, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use your arms to shift the red block.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000057.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000057.json new file mode 100644 index 0000000000000000000000000000000000000000..24e6c7c2b42fae767c1fe4a292a1e7e7127dc151 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000057.json @@ -0,0 +1,84 @@ +{ + "episode_index": 57, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000058.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000058.json new file mode 100644 index 0000000000000000000000000000000000000000..3b2591a118b69744fe017a613a87b5d7ff17a3bb --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000058.json @@ -0,0 +1,84 @@ +{ + "episode_index": 58, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 270, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000059.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000059.json new file mode 100644 index 0000000000000000000000000000000000000000..cd32fd987929ea71fbc523efb60bcf424ac62899 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000059.json @@ -0,0 +1,84 @@ +{ + "episode_index": 59, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use left arm to grab the block and hand it to the right.", + "num_frames": 288, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 78, + "end_frame": 119, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 120, + "end_frame": 187, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 188, + "end_frame": 282, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 173, + "arm": "right", + "kind": "close", + "start_frame": 166, + "end_frame": 180 + }, + { + "frame": 195, + "arm": "left", + "kind": "open", + "start_frame": 188, + "end_frame": 202 + }, + { + "frame": 275, + "arm": "right", + "kind": "open", + "start_frame": 268, + "end_frame": 282 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000060.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000060.json new file mode 100644 index 0000000000000000000000000000000000000000..c8a09931acae8fe6c2df74177795c28b729d7174 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000060.json @@ -0,0 +1,84 @@ +{ + "episode_index": 60, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hold the red block with the left arm and place it on the pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 110, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 111, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000061.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000061.json new file mode 100644 index 0000000000000000000000000000000000000000..0dca256849564b21a36b02202c761a7af79f6731 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000061.json @@ -0,0 +1,84 @@ +{ + "episode_index": 61, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block, pass it to the right arm, then place it.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000062.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000062.json new file mode 100644 index 0000000000000000000000000000000000000000..404308b53bb334c09bc39d091f0e4f2e00486550 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000062.json @@ -0,0 +1,84 @@ +{ + "episode_index": 62, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pass the red block from the left to the right.", + "num_frames": 284, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 118, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 119, + "end_frame": 186, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 187, + "end_frame": 278, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 172, + "arm": "right", + "kind": "close", + "start_frame": 165, + "end_frame": 179 + }, + { + "frame": 194, + "arm": "left", + "kind": "open", + "start_frame": 187, + "end_frame": 201 + }, + { + "frame": 271, + "arm": "right", + "kind": "open", + "start_frame": 264, + "end_frame": 278 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000063.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000063.json new file mode 100644 index 0000000000000000000000000000000000000000..25261ce07c7a37ab06e12ddda52d2d127090b3ee --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000063.json @@ -0,0 +1,84 @@ +{ + "episode_index": 63, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use your arms to shift the red block.", + "num_frames": 286, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 116, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 117, + "end_frame": 184, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 185, + "end_frame": 280, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 273, + "arm": "right", + "kind": "open", + "start_frame": 266, + "end_frame": 280 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000064.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000064.json new file mode 100644 index 0000000000000000000000000000000000000000..456c8263a6ee8b076ed1c0edd35cf1132bdd6879 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000064.json @@ -0,0 +1,84 @@ +{ + "episode_index": 64, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000065.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000065.json new file mode 100644 index 0000000000000000000000000000000000000000..3ede498a1d364834c2b6ef27466510794f61592d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000065.json @@ -0,0 +1,84 @@ +{ + "episode_index": 65, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.", + "num_frames": 275, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 108, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 109, + "end_frame": 176, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 177, + "end_frame": 269, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 162, + "arm": "right", + "kind": "close", + "start_frame": 155, + "end_frame": 169 + }, + { + "frame": 184, + "arm": "left", + "kind": "open", + "start_frame": 177, + "end_frame": 191 + }, + { + "frame": 262, + "arm": "right", + "kind": "open", + "start_frame": 255, + "end_frame": 269 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000066.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000066.json new file mode 100644 index 0000000000000000000000000000000000000000..64e84410d8fb46eac8b67b0c3044327dd968cd01 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000066.json @@ -0,0 +1,84 @@ +{ + "episode_index": 66, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.", + "num_frames": 303, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 79, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 80, + "end_frame": 135, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 136, + "end_frame": 203, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 204, + "end_frame": 297, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "left", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 189, + "arm": "right", + "kind": "close", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 211, + "arm": "left", + "kind": "open", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 290, + "arm": "right", + "kind": "open", + "start_frame": 283, + "end_frame": 297 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000067.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000067.json new file mode 100644 index 0000000000000000000000000000000000000000..ed5b953ca4bf683fa84c31e589f8416712c75ae6 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000067.json @@ -0,0 +1,84 @@ +{ + "episode_index": 67, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Move the red block from the left hand to the pad.", + "num_frames": 307, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 85, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 86, + "end_frame": 131, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 132, + "end_frame": 199, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 200, + "end_frame": 301, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 68, + "arm": "left", + "kind": "close", + "start_frame": 61, + "end_frame": 75 + }, + { + "frame": 185, + "arm": "right", + "kind": "close", + "start_frame": 178, + "end_frame": 192 + }, + { + "frame": 207, + "arm": "left", + "kind": "open", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 294, + "arm": "right", + "kind": "open", + "start_frame": 287, + "end_frame": 301 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000068.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000068.json new file mode 100644 index 0000000000000000000000000000000000000000..dd6f79c05cd475f8fa83134236de57c44a31c7bb --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000068.json @@ -0,0 +1,84 @@ +{ + "episode_index": 68, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block, hand it over, and place it properly.", + "num_frames": 284, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 77, + "end_frame": 119, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 120, + "end_frame": 186, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 187, + "end_frame": 278, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 172, + "arm": "right", + "kind": "close", + "start_frame": 165, + "end_frame": 179 + }, + { + "frame": 194, + "arm": "left", + "kind": "open", + "start_frame": 187, + "end_frame": 201 + }, + { + "frame": 271, + "arm": "right", + "kind": "open", + "start_frame": 264, + "end_frame": 278 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000069.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000069.json new file mode 100644 index 0000000000000000000000000000000000000000..47d2976d2268a15c8e6b9259b5aef19fe9a1aa02 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000069.json @@ -0,0 +1,84 @@ +{ + "episode_index": 69, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Move the red block from the left hand to the pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000070.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000070.json new file mode 100644 index 0000000000000000000000000000000000000000..4981b36c3f49d219ddd943b5a59bc469c9ef5d87 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000070.json @@ -0,0 +1,84 @@ +{ + "episode_index": 70, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block and transfer to the right.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000071.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000071.json new file mode 100644 index 0000000000000000000000000000000000000000..c26de3764aa4c857028f69dd0c0fa9264de5c3bd --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000071.json @@ -0,0 +1,84 @@ +{ + "episode_index": 71, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block with the left hand and pass it.", + "num_frames": 274, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 108, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 109, + "end_frame": 176, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 177, + "end_frame": 268, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 162, + "arm": "right", + "kind": "close", + "start_frame": 155, + "end_frame": 169 + }, + { + "frame": 184, + "arm": "left", + "kind": "open", + "start_frame": 177, + "end_frame": 191 + }, + { + "frame": 261, + "arm": "right", + "kind": "open", + "start_frame": 254, + "end_frame": 268 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000072.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000072.json new file mode 100644 index 0000000000000000000000000000000000000000..f76c94d3e4b3a2142c3fa4655e62f89023abb585 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000072.json @@ -0,0 +1,84 @@ +{ + "episode_index": 72, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use left arm to grab the red block and place it on the pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000073.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000073.json new file mode 100644 index 0000000000000000000000000000000000000000..c6714adddd8bfcf62fbb12b78912d4a2e14d70bb --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000073.json @@ -0,0 +1,84 @@ +{ + "episode_index": 73, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Set the red block on the blue pad gently.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000074.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000074.json new file mode 100644 index 0000000000000000000000000000000000000000..055bf39853e69ebd3837aff1752e0accf66da888 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000074.json @@ -0,0 +1,84 @@ +{ + "episode_index": 74, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 116, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 117, + "end_frame": 184, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 185, + "end_frame": 282, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000075.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000075.json new file mode 100644 index 0000000000000000000000000000000000000000..c6beb41e1aa6e2596a5709690346e5bd3c53b356 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000075.json @@ -0,0 +1,84 @@ +{ + "episode_index": 75, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.", + "num_frames": 289, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 78, + "end_frame": 122, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 123, + "end_frame": 190, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 191, + "end_frame": 283, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 176, + "arm": "right", + "kind": "close", + "start_frame": 169, + "end_frame": 183 + }, + { + "frame": 198, + "arm": "left", + "kind": "open", + "start_frame": 191, + "end_frame": 205 + }, + { + "frame": 276, + "arm": "right", + "kind": "open", + "start_frame": 269, + "end_frame": 283 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000076.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000076.json new file mode 100644 index 0000000000000000000000000000000000000000..b36798e6dcf21877b8679cb4cd0ebe8d7b6efaf4 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000076.json @@ -0,0 +1,84 @@ +{ + "episode_index": 76, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift, switch arms, and place the red block.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 276, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000077.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000077.json new file mode 100644 index 0000000000000000000000000000000000000000..60ce8f9bd7e06382fcaebb0f6cb9689f2a196168 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000077.json @@ -0,0 +1,84 @@ +{ + "episode_index": 77, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block with the left arm and transfer to the right.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000078.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000078.json new file mode 100644 index 0000000000000000000000000000000000000000..ebca0d547eefd9d7d38d7b4cc50358ebc9a6822b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000078.json @@ -0,0 +1,84 @@ +{ + "episode_index": 78, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Place the red block on the blue pad.", + "num_frames": 284, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 117, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 118, + "end_frame": 185, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 186, + "end_frame": 278, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 171, + "arm": "right", + "kind": "close", + "start_frame": 164, + "end_frame": 178 + }, + { + "frame": 193, + "arm": "left", + "kind": "open", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 271, + "arm": "right", + "kind": "open", + "start_frame": 264, + "end_frame": 278 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000079.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000079.json new file mode 100644 index 0000000000000000000000000000000000000000..0af3e48dddf71baa5e4570a3c009a8d06a8a56e4 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000079.json @@ -0,0 +1,84 @@ +{ + "episode_index": 79, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block using the left arm and hand it over.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000080.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000080.json new file mode 100644 index 0000000000000000000000000000000000000000..66826617c18abc268e9fb87d05a9f9ea738d56b9 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000080.json @@ -0,0 +1,84 @@ +{ + "episode_index": 80, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000081.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000081.json new file mode 100644 index 0000000000000000000000000000000000000000..f2a6121a62408a992edf0812d612bed6a37fe479 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000081.json @@ -0,0 +1,84 @@ +{ + "episode_index": 81, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Move the red block from the left hand to the pad.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 108, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 109, + "end_frame": 175, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 176, + "end_frame": 270, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 161, + "arm": "right", + "kind": "close", + "start_frame": 154, + "end_frame": 168 + }, + { + "frame": 183, + "arm": "left", + "kind": "open", + "start_frame": 176, + "end_frame": 190 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000082.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000082.json new file mode 100644 index 0000000000000000000000000000000000000000..2bb961f9987b679c55ff41035c1a4c113d1af2a2 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000082.json @@ -0,0 +1,84 @@ +{ + "episode_index": 82, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 110, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 111, + "end_frame": 178, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 179, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000083.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000083.json new file mode 100644 index 0000000000000000000000000000000000000000..8af8c61ee3aa4699effc7c4974ce78fef2bddbe8 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000083.json @@ -0,0 +1,84 @@ +{ + "episode_index": 83, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hold the red block with the left arm and place it on the pad.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 109, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 110, + "end_frame": 177, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 178, + "end_frame": 270, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 163, + "arm": "right", + "kind": "close", + "start_frame": 156, + "end_frame": 170 + }, + { + "frame": 185, + "arm": "left", + "kind": "open", + "start_frame": 178, + "end_frame": 192 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000084.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000084.json new file mode 100644 index 0000000000000000000000000000000000000000..96e51540acf396ba4a99486321f1d31275695b7d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000084.json @@ -0,0 +1,84 @@ +{ + "episode_index": 84, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block with the left hand and pass it.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 116, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 117, + "end_frame": 184, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 185, + "end_frame": 277, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000085.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000085.json new file mode 100644 index 0000000000000000000000000000000000000000..0a9e400c557cf504cc73cc9adc54c429fc07ca07 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000085.json @@ -0,0 +1,84 @@ +{ + "episode_index": 85, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block, pass it to the right arm, then place it.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 110, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 111, + "end_frame": 178, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 179, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000086.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000086.json new file mode 100644 index 0000000000000000000000000000000000000000..d7a0067111be960c9424d8bc0e33567b30e291c5 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000086.json @@ -0,0 +1,84 @@ +{ + "episode_index": 86, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 91, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 92, + "end_frame": 148, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 149, + "end_frame": 216, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 217, + "end_frame": 323, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 73, + "arm": "left", + "kind": "close", + "start_frame": 66, + "end_frame": 80 + }, + { + "frame": 202, + "arm": "right", + "kind": "close", + "start_frame": 195, + "end_frame": 209 + }, + { + "frame": 224, + "arm": "left", + "kind": "open", + "start_frame": 217, + "end_frame": 231 + }, + { + "frame": 316, + "arm": "right", + "kind": "open", + "start_frame": 309, + "end_frame": 323 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000087.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000087.json new file mode 100644 index 0000000000000000000000000000000000000000..6a05acc9fb38e2a4f18f3b8a51d32c2d81cc2e44 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000087.json @@ -0,0 +1,84 @@ +{ + "episode_index": 87, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hold the red block, transfer to the right arm, then set it down.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 109, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 110, + "end_frame": 177, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 178, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 163, + "arm": "right", + "kind": "close", + "start_frame": 156, + "end_frame": 170 + }, + { + "frame": 185, + "arm": "left", + "kind": "open", + "start_frame": 178, + "end_frame": 192 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000088.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000088.json new file mode 100644 index 0000000000000000000000000000000000000000..b820a032bc7d4337642a306ce2359f0c9f9955f6 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000088.json @@ -0,0 +1,84 @@ +{ + "episode_index": 88, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "The left arm should grab the red block, hand it to the right, and put it on the blue pad.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 117, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 118, + "end_frame": 185, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 186, + "end_frame": 277, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 171, + "arm": "right", + "kind": "close", + "start_frame": 164, + "end_frame": 178 + }, + { + "frame": 193, + "arm": "left", + "kind": "open", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000089.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000089.json new file mode 100644 index 0000000000000000000000000000000000000000..e62c45a253d2b57b6dc17b238ebeeff1d07f0505 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000089.json @@ -0,0 +1,84 @@ +{ + "episode_index": 89, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000090.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000090.json new file mode 100644 index 0000000000000000000000000000000000000000..99b55349a025c98a1d39dac58e29cadca36c9e3e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000090.json @@ -0,0 +1,84 @@ +{ + "episode_index": 90, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 290, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 79, + "end_frame": 121, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 122, + "end_frame": 189, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 190, + "end_frame": 284, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 175, + "arm": "right", + "kind": "close", + "start_frame": 168, + "end_frame": 182 + }, + { + "frame": 197, + "arm": "left", + "kind": "open", + "start_frame": 190, + "end_frame": 204 + }, + { + "frame": 277, + "arm": "right", + "kind": "open", + "start_frame": 270, + "end_frame": 284 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000091.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000091.json new file mode 100644 index 0000000000000000000000000000000000000000..c20b2c32d5804665015dcbb9db3ebad7ce47c1d4 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000091.json @@ -0,0 +1,84 @@ +{ + "episode_index": 91, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Set the red block on the blue pad gently.", + "num_frames": 287, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 78, + "end_frame": 121, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 122, + "end_frame": 189, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 190, + "end_frame": 281, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 175, + "arm": "right", + "kind": "close", + "start_frame": 168, + "end_frame": 182 + }, + { + "frame": 197, + "arm": "left", + "kind": "open", + "start_frame": 190, + "end_frame": 204 + }, + { + "frame": 274, + "arm": "right", + "kind": "open", + "start_frame": 267, + "end_frame": 281 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000092.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000092.json new file mode 100644 index 0000000000000000000000000000000000000000..90662f83ad708602dca7bb3801a6c706f6532e59 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000092.json @@ -0,0 +1,84 @@ +{ + "episode_index": 92, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000093.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000093.json new file mode 100644 index 0000000000000000000000000000000000000000..e8f2b7bedf780f894f33b11d94eed7bb3b6d1608 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000093.json @@ -0,0 +1,84 @@ +{ + "episode_index": 93, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grip the red block with the left arm and transfer it.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 116, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 117, + "end_frame": 184, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 185, + "end_frame": 276, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000094.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000094.json new file mode 100644 index 0000000000000000000000000000000000000000..e5c1c5e823877c9585bbd03dedbe1e90b71579fc --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000094.json @@ -0,0 +1,84 @@ +{ + "episode_index": 94, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Set the red block on the blue pad gently.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 110, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 111, + "end_frame": 178, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 179, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000095.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000095.json new file mode 100644 index 0000000000000000000000000000000000000000..ea3b7908e158c37e15f1cfc454e08771b351885b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000095.json @@ -0,0 +1,84 @@ +{ + "episode_index": 95, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 111, + "end_frame": 178, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 179, + "end_frame": 270, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000096.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000096.json new file mode 100644 index 0000000000000000000000000000000000000000..970ab86419ed84db2d0b6adf91e687675335bd54 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000096.json @@ -0,0 +1,84 @@ +{ + "episode_index": 96, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block and transfer to the right.", + "num_frames": 290, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 77, + "end_frame": 123, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 124, + "end_frame": 191, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 192, + "end_frame": 284, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 177, + "arm": "right", + "kind": "close", + "start_frame": 170, + "end_frame": 184 + }, + { + "frame": 199, + "arm": "left", + "kind": "open", + "start_frame": 192, + "end_frame": 206 + }, + { + "frame": 277, + "arm": "right", + "kind": "open", + "start_frame": 270, + "end_frame": 284 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000097.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000097.json new file mode 100644 index 0000000000000000000000000000000000000000..06d7db099823088ad72537766f949a66b495971d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000097.json @@ -0,0 +1,84 @@ +{ + "episode_index": 97, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.", + "num_frames": 321, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 87, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 88, + "end_frame": 143, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 211, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 212, + "end_frame": 315, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 70, + "arm": "left", + "kind": "close", + "start_frame": 63, + "end_frame": 77 + }, + { + "frame": 197, + "arm": "right", + "kind": "close", + "start_frame": 190, + "end_frame": 204 + }, + { + "frame": 219, + "arm": "left", + "kind": "open", + "start_frame": 212, + "end_frame": 226 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000098.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000098.json new file mode 100644 index 0000000000000000000000000000000000000000..3367077073746baa33e6b752aeeffb9cbe0f985f --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000098.json @@ -0,0 +1,84 @@ +{ + "episode_index": 98, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.", + "num_frames": 287, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 78, + "end_frame": 121, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 122, + "end_frame": 189, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 190, + "end_frame": 281, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 175, + "arm": "right", + "kind": "close", + "start_frame": 168, + "end_frame": 182 + }, + { + "frame": 197, + "arm": "left", + "kind": "open", + "start_frame": 190, + "end_frame": 204 + }, + { + "frame": 274, + "arm": "right", + "kind": "open", + "start_frame": 267, + "end_frame": 281 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000099.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000099.json new file mode 100644 index 0000000000000000000000000000000000000000..aee2a5d83c4a5294494d11f951910d42090b7e00 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000099.json @@ -0,0 +1,84 @@ +{ + "episode_index": 99, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000100.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000100.json new file mode 100644 index 0000000000000000000000000000000000000000..e4d4b90ceacfdec5b7121ab3675d2e47dad518ba --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000100.json @@ -0,0 +1,84 @@ +{ + "episode_index": 100, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 178, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 179, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000101.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000101.json new file mode 100644 index 0000000000000000000000000000000000000000..a60c071ccd3312fa2361d3900b638b1b9f4e1db0 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000101.json @@ -0,0 +1,84 @@ +{ + "episode_index": 101, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.", + "num_frames": 287, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": 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"after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "left", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 175, + "arm": "right", + "kind": "close", + "start_frame": 168, + "end_frame": 182 + }, + { + "frame": 197, + "arm": "left", + "kind": "open", + "start_frame": 190, + "end_frame": 204 + }, + { + "frame": 274, + "arm": "right", + "kind": "open", + "start_frame": 267, + "end_frame": 281 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000102.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000102.json new file mode 100644 index 0000000000000000000000000000000000000000..64ff859229b340c89bc3ea5b473fff0c5668d427 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000102.json @@ -0,0 +1,84 @@ +{ + "episode_index": 102, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hold the red block with the left arm and place it on the pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000103.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000103.json new file mode 100644 index 0000000000000000000000000000000000000000..ed17ba02088642232ac95214e3158655f71c540d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000103.json @@ -0,0 +1,84 @@ +{ + "episode_index": 103, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block, pass it to the right arm, and drop it.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 178, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 179, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000104.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000104.json new file mode 100644 index 0000000000000000000000000000000000000000..13253ebcef7d6766b6ed78fdb6a6b20d22730a36 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000104.json @@ -0,0 +1,84 @@ +{ + "episode_index": 104, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 111, + "end_frame": 178, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 179, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000105.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000105.json new file mode 100644 index 0000000000000000000000000000000000000000..bab67cf212df478f6ee32e6db2660c65c3c15d07 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000105.json @@ -0,0 +1,84 @@ +{ + "episode_index": 105, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000106.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000106.json new file mode 100644 index 0000000000000000000000000000000000000000..3aefb7eaa4c0b52105bf66dc723e482bea189164 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000106.json @@ -0,0 +1,84 @@ +{ + "episode_index": 106, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block, hand it over, and place it properly.", + "num_frames": 286, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 78, + "end_frame": 118, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 119, + "end_frame": 186, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 187, + "end_frame": 280, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 172, + "arm": "right", + "kind": "close", + "start_frame": 165, + "end_frame": 179 + }, + { + "frame": 194, + "arm": "left", + "kind": "open", + "start_frame": 187, + "end_frame": 201 + }, + { + "frame": 273, + "arm": "right", + "kind": "open", + "start_frame": 266, + "end_frame": 280 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000107.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000107.json new file mode 100644 index 0000000000000000000000000000000000000000..4e95b40cc04b69cc7dca6c932b36bfbdf3ac7014 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000107.json @@ -0,0 +1,84 @@ +{ + "episode_index": 107, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000108.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000108.json new file mode 100644 index 0000000000000000000000000000000000000000..30b41d99c8bdb446463cc6c220d831276784ff0b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000108.json @@ -0,0 +1,84 @@ +{ + "episode_index": 108, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block and move it to the pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000109.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000109.json new file mode 100644 index 0000000000000000000000000000000000000000..9367d655d263a1481bb71f4806d29422ea200f31 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000109.json @@ -0,0 +1,84 @@ +{ + "episode_index": 109, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000110.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000110.json new file mode 100644 index 0000000000000000000000000000000000000000..ab2fd609c515700d4486f7e91de6d540a4bbacf3 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000110.json @@ -0,0 +1,84 @@ +{ + "episode_index": 110, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Move the red block from the left hand to the pad.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 117, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 118, + "end_frame": 185, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 186, + "end_frame": 277, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 171, + "arm": "right", + "kind": "close", + "start_frame": 164, + "end_frame": 178 + }, + { + "frame": 193, + "arm": "left", + "kind": "open", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000111.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000111.json new file mode 100644 index 0000000000000000000000000000000000000000..f20c71072391b02669b58d1d42e30402b9c8f3fd --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000111.json @@ -0,0 +1,84 @@ +{ + "episode_index": 111, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 109, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 110, + "end_frame": 176, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 177, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 162, + "arm": "right", + "kind": "close", + "start_frame": 155, + "end_frame": 169 + }, + { + "frame": 184, + "arm": "left", + "kind": "open", + "start_frame": 177, + "end_frame": 191 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000112.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000112.json new file mode 100644 index 0000000000000000000000000000000000000000..76d130bb8ced45bf5acf36c3c06ee6fc8eaaeaea --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000112.json @@ -0,0 +1,84 @@ +{ + "episode_index": 112, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hold the red block with the left arm and place it on the pad.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 116, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 117, + "end_frame": 183, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 184, + "end_frame": 276, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000113.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000113.json new file mode 100644 index 0000000000000000000000000000000000000000..8062db9917ffcd2deb21f8daf82265c1b4bb9a2e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000113.json @@ -0,0 +1,84 @@ +{ + "episode_index": 113, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grip the red block with the left arm and transfer it.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000114.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000114.json new file mode 100644 index 0000000000000000000000000000000000000000..c1df515eb070d361d80808dd32cc00eea6a0fc4f --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000114.json @@ -0,0 +1,84 @@ +{ + "episode_index": 114, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pass the red block from the left to the right.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 116, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 117, + "end_frame": 184, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 185, + "end_frame": 277, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000115.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000115.json new file mode 100644 index 0000000000000000000000000000000000000000..f852dc99d6d488bfc74077fd3e4a2610c0c82f08 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000115.json @@ -0,0 +1,84 @@ +{ + "episode_index": 115, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 109, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 110, + "end_frame": 177, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 178, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 163, + "arm": "right", + "kind": "close", + "start_frame": 156, + "end_frame": 170 + }, + { + "frame": 185, + "arm": "left", + "kind": "open", + "start_frame": 178, + "end_frame": 192 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000116.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000116.json new file mode 100644 index 0000000000000000000000000000000000000000..5e84ef2f17c99c80aac6e556242dc6f35de8beab --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000116.json @@ -0,0 +1,84 @@ +{ + "episode_index": 116, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block, transfer it, and set it on blue.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000117.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000117.json new file mode 100644 index 0000000000000000000000000000000000000000..1a96c8eafe14d75650a135dad417cd50942de67b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000117.json @@ -0,0 +1,84 @@ +{ + "episode_index": 117, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.", + "num_frames": 285, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 117, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 118, + "end_frame": 185, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 186, + "end_frame": 279, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 171, + "arm": "right", + "kind": "close", + "start_frame": 164, + "end_frame": 178 + }, + { + "frame": 193, + "arm": "left", + "kind": "open", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 272, + "arm": "right", + "kind": "open", + "start_frame": 265, + "end_frame": 279 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000118.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000118.json new file mode 100644 index 0000000000000000000000000000000000000000..d5f5480654e940ab664b5e5023ec4aea167b97b1 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000118.json @@ -0,0 +1,84 @@ +{ + "episode_index": 118, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000119.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000119.json new file mode 100644 index 0000000000000000000000000000000000000000..c5c238f9701f48bc185ed26f525c33b4c5719123 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000119.json @@ -0,0 +1,84 @@ +{ + "episode_index": 119, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block, transfer it, and set it on blue.", + "num_frames": 290, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 78, + "end_frame": 123, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 124, + "end_frame": 191, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 192, + "end_frame": 284, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 177, + "arm": "right", + "kind": "close", + "start_frame": 170, + "end_frame": 184 + }, + { + "frame": 199, + "arm": "left", + "kind": "open", + "start_frame": 192, + "end_frame": 206 + }, + { + "frame": 277, + "arm": "right", + "kind": "open", + "start_frame": 270, + "end_frame": 284 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000120.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000120.json new file mode 100644 index 0000000000000000000000000000000000000000..5d253d78465e4a2fbf715529e802c3872a61f301 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000120.json @@ -0,0 +1,84 @@ +{ + "episode_index": 120, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block and move it to the pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000121.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000121.json new file mode 100644 index 0000000000000000000000000000000000000000..7b00dbbc1774354c6f8a2950859de574e56e42c0 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000121.json @@ -0,0 +1,84 @@ +{ + "episode_index": 121, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block, pass it to the right arm, then place it.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000122.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000122.json new file mode 100644 index 0000000000000000000000000000000000000000..e4c1f3319af4ee7ef83a75904d8e99f2cd603a2d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000122.json @@ -0,0 +1,84 @@ +{ + "episode_index": 122, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000123.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000123.json new file mode 100644 index 0000000000000000000000000000000000000000..8385cb2594c6b52b190a5bf3917aaea1caf7f943 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000123.json @@ -0,0 +1,84 @@ +{ + "episode_index": 123, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.", + "num_frames": 290, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 78, + "end_frame": 119, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 120, + "end_frame": 187, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 188, + "end_frame": 284, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 173, + "arm": "right", + "kind": "close", + "start_frame": 166, + "end_frame": 180 + }, + { + "frame": 195, + "arm": "left", + "kind": "open", + "start_frame": 188, + "end_frame": 202 + }, + { + "frame": 277, + "arm": "right", + "kind": "open", + "start_frame": 270, + "end_frame": 284 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000124.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000124.json new file mode 100644 index 0000000000000000000000000000000000000000..43efa8e7f832f0ca32687ea8a552249ee998882b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000124.json @@ -0,0 +1,84 @@ +{ + "episode_index": 124, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grip the red block with the left arm and transfer it.", + "num_frames": 298, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 78, + "end_frame": 127, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 128, + "end_frame": 195, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 196, + "end_frame": 292, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 181, + "arm": "right", + "kind": "close", + "start_frame": 174, + "end_frame": 188 + }, + { + "frame": 203, + "arm": "left", + "kind": "open", + "start_frame": 196, + "end_frame": 210 + }, + { + "frame": 285, + "arm": "right", + "kind": "open", + "start_frame": 278, + "end_frame": 292 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000125.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000125.json new file mode 100644 index 0000000000000000000000000000000000000000..40d74cfa1622023711f823cbf54cd41231181f65 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000125.json @@ -0,0 +1,84 @@ +{ + "episode_index": 125, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Move the red block from the left hand to the pad.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 276, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000126.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000126.json new file mode 100644 index 0000000000000000000000000000000000000000..e89f3e4ed26057d8f49a466705a30283629a2559 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000126.json @@ -0,0 +1,84 @@ +{ + "episode_index": 126, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Place the red block onto the blue pad using the right arm.", + "num_frames": 291, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 79, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 80, + "end_frame": 123, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 124, + "end_frame": 191, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 192, + "end_frame": 285, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "left", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 177, + "arm": "right", + "kind": "close", + "start_frame": 170, + "end_frame": 184 + }, + { + "frame": 199, + "arm": "left", + "kind": "open", + "start_frame": 192, + "end_frame": 206 + }, + { + "frame": 278, + "arm": "right", + "kind": "open", + "start_frame": 271, + "end_frame": 285 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000127.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000127.json new file mode 100644 index 0000000000000000000000000000000000000000..7d642dcb17f70bb742a923a3bea997b2748244cc --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000127.json @@ -0,0 +1,84 @@ +{ + "episode_index": 127, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 110, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 111, + "end_frame": 178, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 179, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000128.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000128.json new file mode 100644 index 0000000000000000000000000000000000000000..5779c987123feff0727a2ceba02359066842f69b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000128.json @@ -0,0 +1,84 @@ +{ + "episode_index": 128, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000129.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000129.json new file mode 100644 index 0000000000000000000000000000000000000000..57cb968052a30f8e77415b53aecfa3b1d96c7c0f --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000129.json @@ -0,0 +1,84 @@ +{ + "episode_index": 129, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.", + "num_frames": 315, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_episode_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 142, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 210, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 211, + "end_frame": 309, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 68, + "arm": "left", + "kind": "close", + "start_frame": 61, + "end_frame": 75 + }, + { + "frame": 196, + "arm": "right", + "kind": "close", + "start_frame": 189, + "end_frame": 203 + }, + { + "frame": 218, + "arm": "left", + "kind": "open", + "start_frame": 211, + "end_frame": 225 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000130.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000130.json new file mode 100644 index 0000000000000000000000000000000000000000..9c15fc34f8e8a956fdf08811435b50b02d4a98af --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000130.json @@ -0,0 +1,84 @@ +{ + "episode_index": 130, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.", + "num_frames": 294, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 78, + "end_frame": 125, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 126, + "end_frame": 193, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 194, + "end_frame": 288, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 179, + "arm": "right", + "kind": "close", + "start_frame": 172, + "end_frame": 186 + }, + { + "frame": 201, + "arm": "left", + "kind": "open", + "start_frame": 194, + "end_frame": 208 + }, + { + "frame": 281, + "arm": "right", + "kind": "open", + "start_frame": 274, + "end_frame": 288 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000131.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000131.json new file mode 100644 index 0000000000000000000000000000000000000000..4bc327898af3c34548b501079b88bdd26f65c296 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000131.json @@ -0,0 +1,84 @@ +{ + "episode_index": 131, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp 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"after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000132.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000132.json new file mode 100644 index 0000000000000000000000000000000000000000..bd46674d69f344ba86542f6b40a56061a4b25b08 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000132.json @@ -0,0 +1,84 @@ +{ + "episode_index": 132, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Place the red block onto the blue pad using the right arm.", + "num_frames": 293, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 78, + "end_frame": 126, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 127, + "end_frame": 194, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 195, + "end_frame": 287, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 180, + "arm": "right", + "kind": "close", + "start_frame": 173, + "end_frame": 187 + }, + { + "frame": 202, + "arm": "left", + "kind": "open", + "start_frame": 195, + "end_frame": 209 + }, + { + "frame": 280, + "arm": "right", + "kind": "open", + "start_frame": 273, + "end_frame": 287 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000133.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000133.json new file mode 100644 index 0000000000000000000000000000000000000000..eed9fc58856d128004053aa8e01ae9fb0c58f5da --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000133.json @@ -0,0 +1,84 @@ +{ + "episode_index": 133, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Move the red block using the left arm.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000134.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000134.json new file mode 100644 index 0000000000000000000000000000000000000000..bc392bbbc7c80360790b87f8b40c7ff53cc7c458 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000134.json @@ -0,0 +1,84 @@ +{ + "episode_index": 134, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000135.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000135.json new file mode 100644 index 0000000000000000000000000000000000000000..385f213f9e112b035676606489f18ba1bc1e3e7e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000135.json @@ -0,0 +1,84 @@ +{ + "episode_index": 135, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift, switch arms, and place the red block.", + "num_frames": 284, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 115, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 116, + "end_frame": 183, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 184, + "end_frame": 278, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 271, + "arm": "right", + "kind": "open", + "start_frame": 264, + "end_frame": 278 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000136.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000136.json new file mode 100644 index 0000000000000000000000000000000000000000..1799fb9df7194ab05304f3d176c5841892a55026 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000136.json @@ -0,0 +1,84 @@ +{ + "episode_index": 136, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the block with the left arm, pass it to the right arm.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 111, + "end_frame": 178, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 179, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000137.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000137.json new file mode 100644 index 0000000000000000000000000000000000000000..61af24a36f594d3f45ae15fea5898aecc109dbf2 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000137.json @@ -0,0 +1,84 @@ +{ + "episode_index": 137, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.", + "num_frames": 294, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 78, + "end_frame": 126, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 127, + "end_frame": 194, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 195, + "end_frame": 288, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 180, + "arm": "right", + "kind": "close", + "start_frame": 173, + "end_frame": 187 + }, + { + "frame": 202, + "arm": "left", + "kind": "open", + "start_frame": 195, + "end_frame": 209 + }, + { + "frame": 281, + "arm": "right", + "kind": "open", + "start_frame": 274, + "end_frame": 288 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000138.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000138.json new file mode 100644 index 0000000000000000000000000000000000000000..28595fad54c1117465f9a20404189493f727b4cf --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000138.json @@ -0,0 +1,84 @@ +{ + "episode_index": 138, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hold the red block, transfer to the right arm, then set it down.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 115, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 116, + "end_frame": 183, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 184, + "end_frame": 276, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000139.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000139.json new file mode 100644 index 0000000000000000000000000000000000000000..f333b9bc4bcb430969b84b8c18820283117f7a3f --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000139.json @@ -0,0 +1,84 @@ +{ + "episode_index": 139, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 284, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 117, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 118, + "end_frame": 185, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 186, + "end_frame": 278, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 171, + "arm": "right", + "kind": "close", + "start_frame": 164, + "end_frame": 178 + }, + { + "frame": 193, + "arm": "left", + "kind": "open", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 271, + "arm": "right", + "kind": "open", + "start_frame": 264, + "end_frame": 278 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000140.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000140.json new file mode 100644 index 0000000000000000000000000000000000000000..1667ee35b2b9d0afb8c8b1979b2e4f898bb2d69c --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000140.json @@ -0,0 +1,84 @@ +{ + "episode_index": 140, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.", + "num_frames": 292, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp 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"after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 180, + "arm": "right", + "kind": "close", + "start_frame": 173, + "end_frame": 187 + }, + { + "frame": 202, + "arm": "left", + "kind": "open", + "start_frame": 195, + "end_frame": 209 + }, + { + "frame": 279, + "arm": "right", + "kind": "open", + "start_frame": 272, + "end_frame": 286 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000141.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000141.json new file mode 100644 index 0000000000000000000000000000000000000000..7e2f74d398caf90f161db53a28ad4e561d3cbe0a --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000141.json @@ -0,0 +1,84 @@ +{ + "episode_index": 141, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block, pass it to the right arm, then place it.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000142.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000142.json new file mode 100644 index 0000000000000000000000000000000000000000..486c0db3b6b17341dc63115cc3a923041ee65359 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000142.json @@ -0,0 +1,84 @@ +{ + "episode_index": 142, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block, transfer it, and set it on blue.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000143.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000143.json new file mode 100644 index 0000000000000000000000000000000000000000..0c85c907ef228cae6d560318aaf7fa0f32625469 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000143.json @@ -0,0 +1,84 @@ +{ + "episode_index": 143, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000144.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000144.json new file mode 100644 index 0000000000000000000000000000000000000000..3a273710f7673a1282887c090ab0eb32ce675fd7 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000144.json @@ -0,0 +1,84 @@ +{ + "episode_index": 144, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000145.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000145.json new file mode 100644 index 0000000000000000000000000000000000000000..0ed3c39f3fd602403a26d611a98b2452a012bd95 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000145.json @@ -0,0 +1,84 @@ +{ + "episode_index": 145, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift, switch arms, and place the red block.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000146.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000146.json new file mode 100644 index 0000000000000000000000000000000000000000..ede52d302e60a69f872ea39eb38c57f40b1bdbd5 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000146.json @@ -0,0 +1,84 @@ +{ + "episode_index": 146, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Place the red block onto the blue pad using the right arm.", + "num_frames": 285, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 78, + "end_frame": 117, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 118, + "end_frame": 185, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 186, + "end_frame": 279, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 171, + "arm": "right", + "kind": "close", + "start_frame": 164, + "end_frame": 178 + }, + { + "frame": 193, + "arm": "left", + "kind": "open", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 272, + "arm": "right", + "kind": "open", + "start_frame": 265, + "end_frame": 279 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000147.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000147.json new file mode 100644 index 0000000000000000000000000000000000000000..2403345898d425d565bf6d2940ef0075dfd8ce05 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000147.json @@ -0,0 +1,84 @@ +{ + "episode_index": 147, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use left arm to grab the red block and place it on the pad.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 115, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 116, + "end_frame": 183, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 184, + "end_frame": 277, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000148.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000148.json new file mode 100644 index 0000000000000000000000000000000000000000..fac6518479bf378f000136fbdd93fa98e35a80d8 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000148.json @@ -0,0 +1,84 @@ +{ + "episode_index": 148, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift, switch arms, and place the red block.", + "num_frames": 289, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 117, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 118, + "end_frame": 185, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 186, + "end_frame": 283, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 171, + "arm": "right", + "kind": "close", + "start_frame": 164, + "end_frame": 178 + }, + { + "frame": 193, + "arm": "left", + "kind": "open", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 276, + "arm": "right", + "kind": "open", + "start_frame": 269, + "end_frame": 283 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000149.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000149.json new file mode 100644 index 0000000000000000000000000000000000000000..6eedeb4c51851ed112e062f4e6d052c6d48338bf --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000149.json @@ -0,0 +1,84 @@ +{ + "episode_index": 149, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000150.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000150.json new file mode 100644 index 0000000000000000000000000000000000000000..154964c9bccf282070762c3f1a01ae411db3f391 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000150.json @@ -0,0 +1,84 @@ +{ + "episode_index": 150, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000151.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000151.json new file mode 100644 index 0000000000000000000000000000000000000000..185431fef8d81418f82bc04703bf9f1fe2198a7d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000151.json @@ -0,0 +1,84 @@ +{ + "episode_index": 151, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with your left arm.", + "num_frames": 287, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 79, + "end_frame": 119, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 120, + "end_frame": 187, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 188, + "end_frame": 281, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 173, + "arm": "right", + "kind": "close", + "start_frame": 166, + "end_frame": 180 + }, + { + "frame": 195, + "arm": "left", + "kind": "open", + "start_frame": 188, + "end_frame": 202 + }, + { + "frame": 274, + "arm": "right", + "kind": "open", + "start_frame": 267, + "end_frame": 281 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000152.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000152.json new file mode 100644 index 0000000000000000000000000000000000000000..6ddb8e9fda9136f109d0767c75d19ce9e5d60dc9 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000152.json @@ -0,0 +1,84 @@ +{ + "episode_index": 152, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block using the left arm and hand it over.", + "num_frames": 284, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 118, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 119, + "end_frame": 186, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 187, + "end_frame": 278, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 172, + "arm": "right", + "kind": "close", + "start_frame": 165, + "end_frame": 179 + }, + { + "frame": 194, + "arm": "left", + "kind": "open", + "start_frame": 187, + "end_frame": 201 + }, + { + "frame": 271, + "arm": "right", + "kind": "open", + "start_frame": 264, + "end_frame": 278 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000153.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000153.json new file mode 100644 index 0000000000000000000000000000000000000000..27435578fbc96cd2078bf3e72d33e5b35a6fca65 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000153.json @@ -0,0 +1,84 @@ +{ + "episode_index": 153, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block using the left arm and hand it over.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 109, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 110, + "end_frame": 177, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 178, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 163, + "arm": "right", + "kind": "close", + "start_frame": 156, + "end_frame": 170 + }, + { + "frame": 185, + "arm": "left", + "kind": "open", + "start_frame": 178, + "end_frame": 192 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000154.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000154.json new file mode 100644 index 0000000000000000000000000000000000000000..61571d354f7dcbaae813345a35f6d136c222da5e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000154.json @@ -0,0 +1,84 @@ +{ + "episode_index": 154, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.", + "num_frames": 286, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 116, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 117, + "end_frame": 184, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 185, + "end_frame": 280, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 273, + "arm": "right", + "kind": "open", + "start_frame": 266, + "end_frame": 280 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000155.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000155.json new file mode 100644 index 0000000000000000000000000000000000000000..0a1556e8ccd1ab2bf0685db344ebf65b19a11e54 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000155.json @@ -0,0 +1,84 @@ +{ + "episode_index": 155, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.", + "num_frames": 307, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 80, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 81, + "end_frame": 140, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 208, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 209, + "end_frame": 301, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "left", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 194, + "arm": "right", + "kind": "close", + "start_frame": 187, + "end_frame": 201 + }, + { + "frame": 216, + "arm": "left", + "kind": "open", + "start_frame": 209, + "end_frame": 223 + }, + { + "frame": 294, + "arm": "right", + "kind": "open", + "start_frame": 287, + "end_frame": 301 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000156.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000156.json new file mode 100644 index 0000000000000000000000000000000000000000..10b716ae7790f4942d8163f3d906ca006e368a10 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000156.json @@ -0,0 +1,84 @@ +{ + "episode_index": 156, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use left arm to grab the red block and place it on the pad.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 95, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 96, + "end_frame": 150, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 151, + "end_frame": 218, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 219, + "end_frame": 324, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 76, + "arm": "left", + "kind": "close", + "start_frame": 69, + "end_frame": 83 + }, + { + "frame": 204, + "arm": "right", + "kind": "close", + "start_frame": 197, + "end_frame": 211 + }, + { + "frame": 226, + "arm": "left", + "kind": "open", + "start_frame": 219, + "end_frame": 233 + }, + { + "frame": 317, + "arm": "right", + "kind": "open", + "start_frame": 310, + "end_frame": 324 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000157.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000157.json new file mode 100644 index 0000000000000000000000000000000000000000..aa71af5cb4394d0661fbe3f80f368bd714ed63c9 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000157.json @@ -0,0 +1,84 @@ +{ + "episode_index": 157, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pass the red block from the left to the right.", + "num_frames": 291, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 120, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 121, + "end_frame": 188, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 189, + "end_frame": 285, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 174, + "arm": "right", + "kind": "close", + "start_frame": 167, + "end_frame": 181 + }, + { + "frame": 196, + "arm": "left", + "kind": "open", + "start_frame": 189, + "end_frame": 203 + }, + { + "frame": 278, + "arm": "right", + "kind": "open", + "start_frame": 271, + "end_frame": 285 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000158.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000158.json new file mode 100644 index 0000000000000000000000000000000000000000..cdc7dc3ca6a935121ededdf9d874bd59743fb738 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000158.json @@ -0,0 +1,84 @@ +{ + "episode_index": 158, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.", + "num_frames": 288, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 115, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 116, + "end_frame": 183, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 184, + "end_frame": 282, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 275, + "arm": "right", + "kind": "open", + "start_frame": 268, + "end_frame": 282 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000159.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000159.json new file mode 100644 index 0000000000000000000000000000000000000000..9b789b90a42a3eb5b26882d9733d5c8d491e1e9a --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000159.json @@ -0,0 +1,84 @@ +{ + "episode_index": 159, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 320, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 89, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 90, + "end_frame": 139, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 207, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 208, + "end_frame": 314, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 71, + "arm": "left", + "kind": "close", + "start_frame": 64, + "end_frame": 78 + }, + { + "frame": 193, + "arm": "right", + "kind": "close", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 215, + "arm": "left", + "kind": "open", + "start_frame": 208, + "end_frame": 222 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000160.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000160.json new file mode 100644 index 0000000000000000000000000000000000000000..825cd87b976cf3ec64707f65462865fceaa6d206 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000160.json @@ -0,0 +1,84 @@ +{ + "episode_index": 160, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use your arms to shift the red block.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000161.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000161.json new file mode 100644 index 0000000000000000000000000000000000000000..94bfcacbb79e152c1fa7c6c09d69d10c8535182d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000161.json @@ -0,0 +1,84 @@ +{ + "episode_index": 161, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 286, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 117, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 118, + "end_frame": 185, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 186, + "end_frame": 280, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 171, + "arm": "right", + "kind": "close", + "start_frame": 164, + "end_frame": 178 + }, + { + "frame": 193, + "arm": "left", + "kind": "open", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 273, + "arm": "right", + "kind": "open", + "start_frame": 266, + "end_frame": 280 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000162.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000162.json new file mode 100644 index 0000000000000000000000000000000000000000..92c45c3eb6c45e0d3059d262670e499ada4753ef --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000162.json @@ -0,0 +1,84 @@ +{ + "episode_index": 162, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hand over the red block to the right arm.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 109, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 110, + "end_frame": 177, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 178, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 163, + "arm": "right", + "kind": "close", + "start_frame": 156, + "end_frame": 170 + }, + { + "frame": 185, + "arm": "left", + "kind": "open", + "start_frame": 178, + "end_frame": 192 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000163.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000163.json new file mode 100644 index 0000000000000000000000000000000000000000..97ff067da6ef88564612eba77b647df07fa7ef80 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000163.json @@ -0,0 +1,84 @@ +{ + "episode_index": 163, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 110, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 111, + "end_frame": 178, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 179, + "end_frame": 270, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000164.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000164.json new file mode 100644 index 0000000000000000000000000000000000000000..681c21c0c0742a7804f6734a727f1d8c2ab260c6 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000164.json @@ -0,0 +1,84 @@ +{ + "episode_index": 164, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 178, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 179, + "end_frame": 270, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000165.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000165.json new file mode 100644 index 0000000000000000000000000000000000000000..90dba90f75d604d85c44094faec55482c8e7fc16 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000165.json @@ -0,0 +1,84 @@ +{ + "episode_index": 165, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use left arm to grab the red block and place it on the pad.", + "num_frames": 284, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 79, + "end_frame": 119, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 120, + "end_frame": 187, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 188, + "end_frame": 278, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 173, + "arm": "right", + "kind": "close", + "start_frame": 166, + "end_frame": 180 + }, + { + "frame": 195, + "arm": "left", + "kind": "open", + "start_frame": 188, + "end_frame": 202 + }, + { + "frame": 271, + "arm": "right", + "kind": "open", + "start_frame": 264, + "end_frame": 278 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000166.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000166.json new file mode 100644 index 0000000000000000000000000000000000000000..1ba76582a3ce5f100aaa02ada8c65bbbf7eee0d0 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000166.json @@ -0,0 +1,84 @@ +{ + "episode_index": 166, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000167.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000167.json new file mode 100644 index 0000000000000000000000000000000000000000..0e2066c937aad47dc4e50bdd394e856ac6f60294 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000167.json @@ -0,0 +1,84 @@ +{ + "episode_index": 167, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block, hand it to the right arm, then set it down.", + "num_frames": 306, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 79, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 80, + "end_frame": 139, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 207, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 208, + "end_frame": 300, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "left", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 193, + "arm": "right", + "kind": "close", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 215, + "arm": "left", + "kind": "open", + "start_frame": 208, + "end_frame": 222 + }, + { + "frame": 293, + "arm": "right", + "kind": "open", + "start_frame": 286, + "end_frame": 300 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000168.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000168.json new file mode 100644 index 0000000000000000000000000000000000000000..39a81855653a6325dd3121290118530f61024834 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000168.json @@ -0,0 +1,84 @@ +{ + "episode_index": 168, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000169.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000169.json new file mode 100644 index 0000000000000000000000000000000000000000..9a2f132a96af6426fa63766cbc3df41af311017b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000169.json @@ -0,0 +1,84 @@ +{ + "episode_index": 169, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000170.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000170.json new file mode 100644 index 0000000000000000000000000000000000000000..9421beb4c7e3e02d03e4f1cc31836a6ce542299d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000170.json @@ -0,0 +1,84 @@ +{ + "episode_index": 170, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hand the red block to the right arm.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 77, + "end_frame": 115, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 116, + "end_frame": 183, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 184, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000171.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000171.json new file mode 100644 index 0000000000000000000000000000000000000000..713bdc61be60ece5a90e46fdd5829362b5e4c7d8 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000171.json @@ -0,0 +1,84 @@ +{ + "episode_index": 171, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.", + "num_frames": 294, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 78, + "end_frame": 127, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 128, + "end_frame": 195, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 196, + "end_frame": 288, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 181, + "arm": "right", + "kind": "close", + "start_frame": 174, + "end_frame": 188 + }, + { + "frame": 203, + "arm": "left", + "kind": "open", + "start_frame": 196, + "end_frame": 210 + }, + { + "frame": 281, + "arm": "right", + "kind": "open", + "start_frame": 274, + "end_frame": 288 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000172.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000172.json new file mode 100644 index 0000000000000000000000000000000000000000..4a1ae2e29f888d01f5c090826398fed64891e189 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000172.json @@ -0,0 +1,84 @@ +{ + "episode_index": 172, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.", + "num_frames": 291, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 119, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 120, + "end_frame": 187, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 188, + "end_frame": 285, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 173, + "arm": "right", + "kind": "close", + "start_frame": 166, + "end_frame": 180 + }, + { + "frame": 195, + "arm": "left", + "kind": "open", + "start_frame": 188, + "end_frame": 202 + }, + { + "frame": 278, + "arm": "right", + "kind": "open", + "start_frame": 271, + "end_frame": 285 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000173.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000173.json new file mode 100644 index 0000000000000000000000000000000000000000..88c4572b69158908b61b713b22b634202a3be7d9 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000173.json @@ -0,0 +1,84 @@ +{ + "episode_index": 173, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block and move it to the pad.", + "num_frames": 275, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 108, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 109, + "end_frame": 176, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 177, + "end_frame": 269, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 162, + "arm": "right", + "kind": "close", + "start_frame": 155, + "end_frame": 169 + }, + { + "frame": 184, + "arm": "left", + "kind": "open", + "start_frame": 177, + "end_frame": 191 + }, + { + "frame": 262, + "arm": "right", + "kind": "open", + "start_frame": 255, + "end_frame": 269 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000174.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000174.json new file mode 100644 index 0000000000000000000000000000000000000000..9a09c3d3c50c2a198aa3c799182a6bdc236051c3 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000174.json @@ -0,0 +1,84 @@ +{ + "episode_index": 174, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000175.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000175.json new file mode 100644 index 0000000000000000000000000000000000000000..051caada9b204950ab820dc77bdbce2b47d4de87 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000175.json @@ -0,0 +1,84 @@ +{ + "episode_index": 175, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block using the left arm and hand it over.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 109, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 110, + "end_frame": 177, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 178, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 163, + "arm": "right", + "kind": "close", + "start_frame": 156, + "end_frame": 170 + }, + { + "frame": 185, + "arm": "left", + "kind": "open", + "start_frame": 178, + "end_frame": 192 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000176.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000176.json new file mode 100644 index 0000000000000000000000000000000000000000..88da41708c03e85cf79e4a0ceabffc99ea23382b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000176.json @@ -0,0 +1,84 @@ +{ + "episode_index": 176, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hand the red block to the right arm.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000177.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000177.json new file mode 100644 index 0000000000000000000000000000000000000000..b6a4b08051501ff4018dd0dfa369cd277ef90f92 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000177.json @@ -0,0 +1,84 @@ +{ + "episode_index": 177, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hold the red block with the left arm and place it on the pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000178.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000178.json new file mode 100644 index 0000000000000000000000000000000000000000..9b223e5267575a279d9532c58683b312be697002 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000178.json @@ -0,0 +1,84 @@ +{ + "episode_index": 178, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grab the red block.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 110, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 111, + "end_frame": 178, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 179, + "end_frame": 270, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000179.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000179.json new file mode 100644 index 0000000000000000000000000000000000000000..330de687dbf77fa970c3840d33f13d0c0cd12f45 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000179.json @@ -0,0 +1,84 @@ +{ + "episode_index": 179, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block and transfer to the right.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000180.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000180.json new file mode 100644 index 0000000000000000000000000000000000000000..3fd9ff4cd848df8faf6bf1e97de75e5371145388 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000180.json @@ -0,0 +1,84 @@ +{ + "episode_index": 180, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the block with the left arm, pass it to the right arm.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 276, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000181.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000181.json new file mode 100644 index 0000000000000000000000000000000000000000..b3249bf70f069b7ee02122936a5ad93213c7a379 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000181.json @@ -0,0 +1,84 @@ +{ + "episode_index": 181, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "The left arm should grab the red block, hand it to the right, and put it on the blue pad.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 111, + "end_frame": 178, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 179, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000182.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000182.json new file mode 100644 index 0000000000000000000000000000000000000000..6aa2898728c37c75c91547faac1f902967359a8a --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000182.json @@ -0,0 +1,84 @@ +{ + "episode_index": 182, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Set the red block on the blue pad gently.", + "num_frames": 293, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 78, + "end_frame": 127, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 128, + "end_frame": 195, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 196, + "end_frame": 287, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 181, + "arm": "right", + "kind": "close", + "start_frame": 174, + "end_frame": 188 + }, + { + "frame": 203, + "arm": "left", + "kind": "open", + "start_frame": 196, + "end_frame": 210 + }, + { + "frame": 280, + "arm": "right", + "kind": "open", + "start_frame": 273, + "end_frame": 287 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000183.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000183.json new file mode 100644 index 0000000000000000000000000000000000000000..4f0179c1e389fda00e09c8bb3a99234f4b612426 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000183.json @@ -0,0 +1,84 @@ +{ + "episode_index": 183, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Set the red block on the blue pad gently.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 110, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 111, + "end_frame": 178, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 179, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000184.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000184.json new file mode 100644 index 0000000000000000000000000000000000000000..11373d6a07622db159c80676ac9e48b21860d84e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000184.json @@ -0,0 +1,84 @@ +{ + "episode_index": 184, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block, pass it to the right arm, and drop it.", + "num_frames": 287, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 118, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 119, + "end_frame": 186, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 187, + "end_frame": 281, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 172, + "arm": "right", + "kind": "close", + "start_frame": 165, + "end_frame": 179 + }, + { + "frame": 194, + "arm": "left", + "kind": "open", + "start_frame": 187, + "end_frame": 201 + }, + { + "frame": 274, + "arm": "right", + "kind": "open", + "start_frame": 267, + "end_frame": 281 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000185.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000185.json new file mode 100644 index 0000000000000000000000000000000000000000..13a37c086da8868feed20f2de9f92e01e6ba6cb8 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000185.json @@ -0,0 +1,84 @@ +{ + "episode_index": 185, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block with the left arm and transfer to the right.", + "num_frames": 288, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 78, + "end_frame": 119, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 120, + "end_frame": 187, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 188, + "end_frame": 282, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 173, + "arm": "right", + "kind": "close", + "start_frame": 166, + "end_frame": 180 + }, + { + "frame": 195, + "arm": "left", + "kind": "open", + "start_frame": 188, + "end_frame": 202 + }, + { + "frame": 275, + "arm": "right", + "kind": "open", + "start_frame": 268, + "end_frame": 282 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000186.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000186.json new file mode 100644 index 0000000000000000000000000000000000000000..63f78951c47f2ad05f8482b43b0b80980947213c --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000186.json @@ -0,0 +1,84 @@ +{ + "episode_index": 186, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hand over the red block to the right arm.", + "num_frames": 289, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 121, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 122, + "end_frame": 189, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 190, + "end_frame": 283, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 175, + "arm": "right", + "kind": "close", + "start_frame": 168, + "end_frame": 182 + }, + { + "frame": 197, + "arm": "left", + "kind": "open", + "start_frame": 190, + "end_frame": 204 + }, + { + "frame": 276, + "arm": "right", + "kind": "open", + "start_frame": 269, + "end_frame": 283 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000187.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000187.json new file mode 100644 index 0000000000000000000000000000000000000000..cc0c044021e6500f1bfeb33b22cd3f19bc49df50 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000187.json @@ -0,0 +1,84 @@ +{ + "episode_index": 187, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000188.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000188.json new file mode 100644 index 0000000000000000000000000000000000000000..89ca081a8dedf81727d724473f5555fa7c36085e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000188.json @@ -0,0 +1,84 @@ +{ + "episode_index": 188, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Move the red block from the left hand to the pad.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 109, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 110, + "end_frame": 177, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 178, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 163, + "arm": "right", + "kind": "close", + "start_frame": 156, + "end_frame": 170 + }, + { + "frame": 185, + "arm": "left", + "kind": "open", + "start_frame": 178, + "end_frame": 192 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000189.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000189.json new file mode 100644 index 0000000000000000000000000000000000000000..1c2a28b1bb0372e74e5e7edbcb9b401fcb9d21ea --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000189.json @@ -0,0 +1,84 @@ +{ + "episode_index": 189, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift, switch arms, and place the red block.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 276, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000190.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000190.json new file mode 100644 index 0000000000000000000000000000000000000000..3beb62581621996d6fd5388ddcb75b2ffb5554ea --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000190.json @@ -0,0 +1,84 @@ +{ + "episode_index": 190, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Set the red block on the blue pad gently.", + "num_frames": 296, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 79, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 80, + "end_frame": 129, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 130, + "end_frame": 197, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 198, + "end_frame": 290, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "left", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 183, + "arm": "right", + "kind": "close", + "start_frame": 176, + "end_frame": 190 + }, + { + "frame": 205, + "arm": "left", + "kind": "open", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 283, + "arm": "right", + "kind": "open", + "start_frame": 276, + "end_frame": 290 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000191.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000191.json new file mode 100644 index 0000000000000000000000000000000000000000..0b0df1ccd62ec2e7a333fa829df5438eaa15cc0b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000191.json @@ -0,0 +1,84 @@ +{ + "episode_index": 191, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block and move it to the pad.", + "num_frames": 321, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 86, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 87, + "end_frame": 146, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 147, + "end_frame": 214, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 215, + "end_frame": 315, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 68, + "arm": "left", + "kind": "close", + "start_frame": 61, + "end_frame": 75 + }, + { + "frame": 200, + "arm": "right", + "kind": "close", + "start_frame": 193, + "end_frame": 207 + }, + { + "frame": 222, + "arm": "left", + "kind": "open", + "start_frame": 215, + "end_frame": 229 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000192.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000192.json new file mode 100644 index 0000000000000000000000000000000000000000..5c5cad2e5fba1294c6300d7f347522826223fad3 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000192.json @@ -0,0 +1,84 @@ +{ + "episode_index": 192, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.", + "num_frames": 289, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 77, + "end_frame": 120, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 121, + "end_frame": 188, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 189, + "end_frame": 283, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 174, + "arm": "right", + "kind": "close", + "start_frame": 167, + "end_frame": 181 + }, + { + "frame": 196, + "arm": "left", + "kind": "open", + "start_frame": 189, + "end_frame": 203 + }, + { + "frame": 276, + "arm": "right", + "kind": "open", + "start_frame": 269, + "end_frame": 283 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000193.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000193.json new file mode 100644 index 0000000000000000000000000000000000000000..e5983f71b89e78250e846317cd22930a11f4e33c --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000193.json @@ -0,0 +1,84 @@ +{ + "episode_index": 193, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the block with the left arm, pass it to the right arm.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000194.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000194.json new file mode 100644 index 0000000000000000000000000000000000000000..326d81e31b4f1c94f469f217c4605d1be74a1578 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000194.json @@ -0,0 +1,84 @@ +{ + "episode_index": 194, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.", + "num_frames": 286, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 117, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 118, + "end_frame": 185, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 186, + "end_frame": 280, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 171, + "arm": "right", + "kind": "close", + "start_frame": 164, + "end_frame": 178 + }, + { + "frame": 193, + "arm": "left", + "kind": "open", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 273, + "arm": "right", + "kind": "open", + "start_frame": 266, + "end_frame": 280 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000195.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000195.json new file mode 100644 index 0000000000000000000000000000000000000000..de44499601dbf4f6345f8528b74a237322b66926 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000195.json @@ -0,0 +1,84 @@ +{ + "episode_index": 195, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block, hand it to the right arm, then set it down.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000196.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000196.json new file mode 100644 index 0000000000000000000000000000000000000000..03605f3caaf76f16fee19b6d5d0eb28598d3a09c --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000196.json @@ -0,0 +1,84 @@ +{ + "episode_index": 196, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up and handover the red block.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000197.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000197.json new file mode 100644 index 0000000000000000000000000000000000000000..f70ab339cc47bdddd3827f5de114bf585d0dcb85 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000197.json @@ -0,0 +1,84 @@ +{ + "episode_index": 197, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Place the red block on the blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000198.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000198.json new file mode 100644 index 0000000000000000000000000000000000000000..18dfa66483705331eb88d437566126777a33ec03 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000198.json @@ -0,0 +1,84 @@ +{ + "episode_index": 198, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the block with the left arm, pass it to the right arm.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000199.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000199.json new file mode 100644 index 0000000000000000000000000000000000000000..50a48f87061ff7d3e65aaa56edd4afc465ffdb2b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000199.json @@ -0,0 +1,84 @@ +{ + "episode_index": 199, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block, pass it to the right arm, and drop it.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 108, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 109, + "end_frame": 176, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 177, + "end_frame": 270, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 162, + "arm": "right", + "kind": "close", + "start_frame": 155, + "end_frame": 169 + }, + { + "frame": 184, + "arm": "left", + "kind": "open", + "start_frame": 177, + "end_frame": 191 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000200.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000200.json new file mode 100644 index 0000000000000000000000000000000000000000..ce0b5da83f49de696d60c9728b0c969fdb80ab3e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000200.json @@ -0,0 +1,84 @@ +{ + "episode_index": 200, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab red block, pass to the right arm, then drop on blue pad.", + "num_frames": 294, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 79, + "end_frame": 124, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 125, + "end_frame": 192, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 193, + "end_frame": 288, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 178, + "arm": "right", + "kind": "close", + "start_frame": 171, + "end_frame": 185 + }, + { + "frame": 200, + "arm": "left", + "kind": "open", + "start_frame": 193, + "end_frame": 207 + }, + { + "frame": 281, + "arm": "right", + "kind": "open", + "start_frame": 274, + "end_frame": 288 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000201.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000201.json new file mode 100644 index 0000000000000000000000000000000000000000..cc42091e7b0477d8a775b86986cb1740c834cfe4 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000201.json @@ -0,0 +1,84 @@ +{ + "episode_index": 201, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.", + "num_frames": 286, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 118, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 119, + "end_frame": 186, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 187, + "end_frame": 280, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 172, + "arm": "right", + "kind": "close", + "start_frame": 165, + "end_frame": 179 + }, + { + "frame": 194, + "arm": "left", + "kind": "open", + "start_frame": 187, + "end_frame": 201 + }, + { + "frame": 273, + "arm": "right", + "kind": "open", + "start_frame": 266, + "end_frame": 280 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000202.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000202.json new file mode 100644 index 0000000000000000000000000000000000000000..fd45b7ec79ceb490e81eae8f4d536a9e38db3fa7 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000202.json @@ -0,0 +1,84 @@ +{ + "episode_index": 202, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000203.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000203.json new file mode 100644 index 0000000000000000000000000000000000000000..af6f92bd6eb30e499941bae4e3108c9cf9fc7c57 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000203.json @@ -0,0 +1,84 @@ +{ + "episode_index": 203, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp 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"after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000204.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000204.json new file mode 100644 index 0000000000000000000000000000000000000000..50b0bf739f5712a238f2afefd4d858cba22ca1c0 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000204.json @@ -0,0 +1,84 @@ +{ + "episode_index": 204, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grab the red block.", + "num_frames": 309, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 83, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 84, + "end_frame": 142, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 210, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 211, + "end_frame": 303, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 68, + "arm": "left", + "kind": "close", + "start_frame": 61, + "end_frame": 75 + }, + { + "frame": 196, + "arm": "right", + "kind": "close", + "start_frame": 189, + "end_frame": 203 + }, + { + "frame": 218, + "arm": "left", + "kind": "open", + "start_frame": 211, + "end_frame": 225 + }, + { + "frame": 296, + "arm": "right", + "kind": "open", + "start_frame": 289, + "end_frame": 303 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000205.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000205.json new file mode 100644 index 0000000000000000000000000000000000000000..379f2d5fdfc16b499021a20e8f5d56ca0c290648 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000205.json @@ -0,0 +1,84 @@ +{ + "episode_index": 205, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 77, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 277, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000206.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000206.json new file mode 100644 index 0000000000000000000000000000000000000000..e215bd7e96cbdb09346f995b436cd945f1dae1e6 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000206.json @@ -0,0 +1,84 @@ +{ + "episode_index": 206, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.", + "num_frames": 291, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 122, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 123, + "end_frame": 190, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 191, + "end_frame": 285, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 176, + "arm": "right", + "kind": "close", + "start_frame": 169, + "end_frame": 183 + }, + { + "frame": 198, + "arm": "left", + "kind": "open", + "start_frame": 191, + "end_frame": 205 + }, + { + "frame": 278, + "arm": "right", + "kind": "open", + "start_frame": 271, + "end_frame": 285 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000207.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000207.json new file mode 100644 index 0000000000000000000000000000000000000000..a1c61b4f75c3b8195af912f6277baeae7ccccb15 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000207.json @@ -0,0 +1,84 @@ +{ + "episode_index": 207, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000208.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000208.json new file mode 100644 index 0000000000000000000000000000000000000000..5c3f752c63a222d5c1e112e8caded53b7859eb60 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000208.json @@ -0,0 +1,84 @@ +{ + "episode_index": 208, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 110, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 111, + "end_frame": 178, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 179, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000209.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000209.json new file mode 100644 index 0000000000000000000000000000000000000000..34703a5b177dafe2b9eac8c544471c4d15dfc4fb --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000209.json @@ -0,0 +1,84 @@ +{ + "episode_index": 209, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.", + "num_frames": 273, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 108, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 109, + "end_frame": 176, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 177, + "end_frame": 267, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 162, + "arm": "right", + "kind": "close", + "start_frame": 155, + "end_frame": 169 + }, + { + "frame": 184, + "arm": "left", + "kind": "open", + "start_frame": 177, + "end_frame": 191 + }, + { + "frame": 260, + "arm": "right", + "kind": "open", + "start_frame": 253, + "end_frame": 267 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000210.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000210.json new file mode 100644 index 0000000000000000000000000000000000000000..44f5a6e6667f4444909588a9ad4e1410439c06d9 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000210.json @@ -0,0 +1,84 @@ +{ + "episode_index": 210, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hand over the red block to the right arm.", + "num_frames": 316, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 85, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 86, + "end_frame": 141, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 209, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 210, + "end_frame": 310, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 68, + "arm": "left", + "kind": "close", + "start_frame": 61, + "end_frame": 75 + }, + { + "frame": 195, + "arm": "right", + "kind": "close", + "start_frame": 188, + "end_frame": 202 + }, + { + "frame": 217, + "arm": "left", + "kind": "open", + "start_frame": 210, + "end_frame": 224 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000211.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000211.json new file mode 100644 index 0000000000000000000000000000000000000000..7287730b746a27e7b28f9354858ee9e86fcdc27f --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000211.json @@ -0,0 +1,84 @@ +{ + "episode_index": 211, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.", + "num_frames": 310, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 83, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 84, + "end_frame": 143, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 211, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 212, + "end_frame": 304, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 68, + "arm": "left", + "kind": "close", + "start_frame": 61, + "end_frame": 75 + }, + { + "frame": 197, + "arm": "right", + "kind": "close", + "start_frame": 190, + "end_frame": 204 + }, + { + "frame": 219, + "arm": "left", + "kind": "open", + "start_frame": 212, + "end_frame": 226 + }, + { + "frame": 297, + "arm": "right", + "kind": "open", + "start_frame": 290, + "end_frame": 304 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000212.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000212.json new file mode 100644 index 0000000000000000000000000000000000000000..3fbd68ab7569fec817261183ef31604ae162c985 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000212.json @@ -0,0 +1,84 @@ +{ + "episode_index": 212, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block, pass it to the right arm, and drop it.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 270, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000213.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000213.json new file mode 100644 index 0000000000000000000000000000000000000000..7cc68989f8c82749009c50303e0df7ab7ddc7477 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000213.json @@ -0,0 +1,84 @@ +{ + "episode_index": 213, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab red block, pass to the right arm, then drop on blue pad.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000214.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000214.json new file mode 100644 index 0000000000000000000000000000000000000000..b7900a46d9a96f82e896e05034ca25a34302f865 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000214.json @@ -0,0 +1,84 @@ +{ + "episode_index": 214, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000215.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000215.json new file mode 100644 index 0000000000000000000000000000000000000000..5c771c6e6c080fd55de7c68892d68ec669a0f697 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000215.json @@ -0,0 +1,84 @@ +{ + "episode_index": 215, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift, switch arms, and place the red block.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 276, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000216.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000216.json new file mode 100644 index 0000000000000000000000000000000000000000..5eea3573b0332a55a3c4085ab96792ef41592efc --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000216.json @@ -0,0 +1,84 @@ +{ + "episode_index": 216, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 110, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 111, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000217.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000217.json new file mode 100644 index 0000000000000000000000000000000000000000..a9a6a0bdcae1119329377ca5815237e14a510dc5 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000217.json @@ -0,0 +1,84 @@ +{ + "episode_index": 217, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block, pass it to the right arm, then place it.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 109, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 110, + "end_frame": 177, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 178, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 163, + "arm": "right", + "kind": "close", + "start_frame": 156, + "end_frame": 170 + }, + { + "frame": 185, + "arm": "left", + "kind": "open", + "start_frame": 178, + "end_frame": 192 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000218.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000218.json new file mode 100644 index 0000000000000000000000000000000000000000..65aea72f48629b8f5950018cd2715cf40f7f37bb --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000218.json @@ -0,0 +1,84 @@ +{ + "episode_index": 218, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab red block, pass to the right arm, then drop on blue pad.", + "num_frames": 290, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 78, + "end_frame": 123, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 124, + "end_frame": 190, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 191, + "end_frame": 284, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 176, + "arm": "right", + "kind": "close", + "start_frame": 169, + "end_frame": 183 + }, + { + "frame": 198, + "arm": "left", + "kind": "open", + "start_frame": 191, + "end_frame": 205 + }, + { + "frame": 277, + "arm": "right", + "kind": "open", + "start_frame": 270, + "end_frame": 284 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000219.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000219.json new file mode 100644 index 0000000000000000000000000000000000000000..f52e7b5d8813120895742c50066ff7a1afa4f882 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000219.json @@ -0,0 +1,84 @@ +{ + "episode_index": 219, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab red block, pass to the right arm, then drop on blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000220.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000220.json new file mode 100644 index 0000000000000000000000000000000000000000..37c7f5d49bb08fa930a57aee5000022fd0eb2490 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000220.json @@ -0,0 +1,84 @@ +{ + "episode_index": 220, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 276, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000221.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000221.json new file mode 100644 index 0000000000000000000000000000000000000000..4e87338e0a6eabf1bbe8c8660b8b3e4326361d35 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000221.json @@ -0,0 +1,84 @@ +{ + "episode_index": 221, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block, transfer it, and set it on blue.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000222.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000222.json new file mode 100644 index 0000000000000000000000000000000000000000..e8ccbc08557de403423c259070933a38800b8260 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000222.json @@ -0,0 +1,84 @@ +{ + "episode_index": 222, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000223.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000223.json new file mode 100644 index 0000000000000000000000000000000000000000..fb45d69b93595c598c83ee9d5ecbfd80ebb11721 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000223.json @@ -0,0 +1,84 @@ +{ + "episode_index": 223, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with your left arm.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000224.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000224.json new file mode 100644 index 0000000000000000000000000000000000000000..a1c599996e5a0cead4e8293bfd7b7d6a7f23b98b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000224.json @@ -0,0 +1,84 @@ +{ + "episode_index": 224, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift, switch arms, and place the red block.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 115, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 116, + "end_frame": 183, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 184, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000225.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000225.json new file mode 100644 index 0000000000000000000000000000000000000000..39f75e00ca08cb3ffe80497dc793bb7041175d98 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000225.json @@ -0,0 +1,84 @@ +{ + "episode_index": 225, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.", + "num_frames": 287, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 77, + "end_frame": 120, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 121, + "end_frame": 188, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 189, + "end_frame": 281, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 174, + "arm": "right", + "kind": "close", + "start_frame": 167, + "end_frame": 181 + }, + { + "frame": 196, + "arm": "left", + "kind": "open", + "start_frame": 189, + "end_frame": 203 + }, + { + "frame": 274, + "arm": "right", + "kind": "open", + "start_frame": 267, + "end_frame": 281 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000226.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000226.json new file mode 100644 index 0000000000000000000000000000000000000000..79f505a7b5b2a7389e2598facff2785c80c255e0 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000226.json @@ -0,0 +1,84 @@ +{ + "episode_index": 226, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block, transfer it, and set it on blue.", + "num_frames": 298, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 79, + "end_frame": 130, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 131, + "end_frame": 199, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 200, + "end_frame": 292, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 185, + "arm": "right", + "kind": "close", + "start_frame": 178, + "end_frame": 192 + }, + { + "frame": 207, + "arm": "left", + "kind": "open", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 285, + "arm": "right", + "kind": "open", + "start_frame": 278, + "end_frame": 292 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000227.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000227.json new file mode 100644 index 0000000000000000000000000000000000000000..75df4b7a4e758b88b1993bf24392c1fc67c584b5 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000227.json @@ -0,0 +1,84 @@ +{ + "episode_index": 227, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block using the left arm and hand it over.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000228.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000228.json new file mode 100644 index 0000000000000000000000000000000000000000..79c5a240481e2f18141b1ea92d74becbf6105797 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000228.json @@ -0,0 +1,84 @@ +{ + "episode_index": 228, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grab the red block.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 110, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 111, + "end_frame": 178, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 179, + "end_frame": 270, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000229.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000229.json new file mode 100644 index 0000000000000000000000000000000000000000..2142418e8a264c58c5be6edbabad99d6c5f2c646 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000229.json @@ -0,0 +1,84 @@ +{ + "episode_index": 229, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pass the red block from the left to the right.", + "num_frames": 315, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 90, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 91, + "end_frame": 138, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 206, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 207, + "end_frame": 309, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 73, + "arm": "left", + "kind": "close", + "start_frame": 66, + "end_frame": 80 + }, + { + "frame": 192, + "arm": "right", + "kind": "close", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 214, + "arm": "left", + "kind": "open", + "start_frame": 207, + "end_frame": 221 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000230.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000230.json new file mode 100644 index 0000000000000000000000000000000000000000..70638ed9b9a6d1abe5412ec79114bec1af696649 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000230.json @@ -0,0 +1,84 @@ +{ + "episode_index": 230, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up and handover the red block.", + "num_frames": 274, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 106, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 107, + "end_frame": 174, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 175, + "end_frame": 268, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 160, + "arm": "right", + "kind": "close", + "start_frame": 153, + "end_frame": 167 + }, + { + "frame": 182, + "arm": "left", + "kind": "open", + "start_frame": 175, + "end_frame": 189 + }, + { + "frame": 261, + "arm": "right", + "kind": "open", + "start_frame": 254, + "end_frame": 268 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000231.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000231.json new file mode 100644 index 0000000000000000000000000000000000000000..a8c2196fce2d17e371e92f56bbdd2391736a4c82 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000231.json @@ -0,0 +1,84 @@ +{ + "episode_index": 231, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block and move it to the pad.", + "num_frames": 284, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 116, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 117, + "end_frame": 184, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 185, + "end_frame": 278, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 271, + "arm": "right", + "kind": "open", + "start_frame": 264, + "end_frame": 278 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000232.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000232.json new file mode 100644 index 0000000000000000000000000000000000000000..8ac8f6950d7649248de3e67c8d47c172135c35b2 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000232.json @@ -0,0 +1,84 @@ +{ + "episode_index": 232, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000233.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000233.json new file mode 100644 index 0000000000000000000000000000000000000000..84037ff3602673c6236b68a3dbdc5475bde178be --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000233.json @@ -0,0 +1,84 @@ +{ + "episode_index": 233, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 276, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000234.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000234.json new file mode 100644 index 0000000000000000000000000000000000000000..1d3c43fefb323f7abf39e2897c54f3c20394a77f --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000234.json @@ -0,0 +1,84 @@ +{ + "episode_index": 234, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000235.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000235.json new file mode 100644 index 0000000000000000000000000000000000000000..0ded5c5a8f292d179bd1144df691edc9c4672cc4 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000235.json @@ -0,0 +1,84 @@ +{ + "episode_index": 235, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.", + "num_frames": 284, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 118, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 119, + "end_frame": 186, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 187, + "end_frame": 278, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 172, + "arm": "right", + "kind": "close", + "start_frame": 165, + "end_frame": 179 + }, + { + "frame": 194, + "arm": "left", + "kind": "open", + "start_frame": 187, + "end_frame": 201 + }, + { + "frame": 271, + "arm": "right", + "kind": "open", + "start_frame": 264, + "end_frame": 278 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000236.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000236.json new file mode 100644 index 0000000000000000000000000000000000000000..8626b839a4d6d98adff28cf574b81d01346fe31c --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000236.json @@ -0,0 +1,84 @@ +{ + "episode_index": 236, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 109, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 110, + "end_frame": 177, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 178, + "end_frame": 270, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 163, + "arm": "right", + "kind": "close", + "start_frame": 156, + "end_frame": 170 + }, + { + "frame": 185, + "arm": "left", + "kind": "open", + "start_frame": 178, + "end_frame": 192 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000237.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000237.json new file mode 100644 index 0000000000000000000000000000000000000000..762a83cd13f8272e63acc59bb49b6ffd143348c0 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000237.json @@ -0,0 +1,84 @@ +{ + "episode_index": 237, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 117, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 118, + "end_frame": 185, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 186, + "end_frame": 277, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 171, + "arm": "right", + "kind": "close", + "start_frame": 164, + "end_frame": 178 + }, + { + "frame": 193, + "arm": "left", + "kind": "open", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000238.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000238.json new file mode 100644 index 0000000000000000000000000000000000000000..e414a696057efb7f3e4175b3a65554dd43e8b25f --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000238.json @@ -0,0 +1,84 @@ +{ + "episode_index": 238, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hand over the red block to the right arm.", + "num_frames": 304, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 82, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 83, + "end_frame": 136, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 204, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 205, + "end_frame": 298, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 67, + "arm": "left", + "kind": "close", + "start_frame": 60, + "end_frame": 74 + }, + { + "frame": 190, + "arm": "right", + "kind": "close", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 212, + "arm": "left", + "kind": "open", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 291, + "arm": "right", + "kind": "open", + "start_frame": 284, + "end_frame": 298 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000239.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000239.json new file mode 100644 index 0000000000000000000000000000000000000000..86f9012881fa867cf5cd433f2957b36c2d148222 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000239.json @@ -0,0 +1,84 @@ +{ + "episode_index": 239, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 117, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 118, + "end_frame": 184, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 185, + "end_frame": 277, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000240.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000240.json new file mode 100644 index 0000000000000000000000000000000000000000..a0fbe59cfa9b5ee19d9cfc165e202aa3ad1e2b78 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000240.json @@ -0,0 +1,84 @@ +{ + "episode_index": 240, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000241.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000241.json new file mode 100644 index 0000000000000000000000000000000000000000..f0d95657b47864051135a378efd9cde4eaa7fc29 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000241.json @@ -0,0 +1,84 @@ +{ + "episode_index": 241, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Place the red block on the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000242.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000242.json new file mode 100644 index 0000000000000000000000000000000000000000..33b6b1e4870c553af9c34365b0ac2270c2936b4e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000242.json @@ -0,0 +1,84 @@ +{ + "episode_index": 242, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with your left arm.", + "num_frames": 287, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 77, + "end_frame": 120, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 121, + "end_frame": 188, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 189, + "end_frame": 281, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 174, + "arm": "right", + "kind": "close", + "start_frame": 167, + "end_frame": 181 + }, + { + "frame": 196, + "arm": "left", + "kind": "open", + "start_frame": 189, + "end_frame": 203 + }, + { + "frame": 274, + "arm": "right", + "kind": "open", + "start_frame": 267, + "end_frame": 281 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000243.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000243.json new file mode 100644 index 0000000000000000000000000000000000000000..422e7ac088b222f28de8b64db8c29d98bb2728f6 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000243.json @@ -0,0 +1,84 @@ +{ + "episode_index": 243, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block with the left arm and transfer to the right.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000244.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000244.json new file mode 100644 index 0000000000000000000000000000000000000000..2e707ff59ceb76a814e892e685fd86d6c4ac42a6 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000244.json @@ -0,0 +1,84 @@ +{ + "episode_index": 244, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Move the red block using the left arm.", + "num_frames": 296, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 79, + "end_frame": 127, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 128, + "end_frame": 195, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 196, + "end_frame": 290, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 181, + "arm": "right", + "kind": "close", + "start_frame": 174, + "end_frame": 188 + }, + { + "frame": 203, + "arm": "left", + "kind": "open", + "start_frame": 196, + "end_frame": 210 + }, + { + "frame": 283, + "arm": "right", + "kind": "open", + "start_frame": 276, + "end_frame": 290 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000245.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000245.json new file mode 100644 index 0000000000000000000000000000000000000000..d2b6ecc243f6f8bbd55e146f569a2a0963282985 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000245.json @@ -0,0 +1,84 @@ +{ + "episode_index": 245, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift, switch arms, and place the red block.", + "num_frames": 311, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 80, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 81, + "end_frame": 142, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 210, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 211, + "end_frame": 305, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "left", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 196, + "arm": "right", + "kind": "close", + "start_frame": 189, + "end_frame": 203 + }, + { + "frame": 218, + "arm": "left", + "kind": "open", + "start_frame": 211, + "end_frame": 225 + }, + { + "frame": 298, + "arm": "right", + "kind": "open", + "start_frame": 291, + "end_frame": 305 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000246.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000246.json new file mode 100644 index 0000000000000000000000000000000000000000..420e7f48a14af3a01567490c4ca7da30f770370e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000246.json @@ -0,0 +1,84 @@ +{ + "episode_index": 246, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Move the red block from the left hand to the pad.", + "num_frames": 285, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 118, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 119, + "end_frame": 186, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 187, + "end_frame": 279, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 172, + "arm": "right", + "kind": "close", + "start_frame": 165, + "end_frame": 179 + }, + { + "frame": 194, + "arm": "left", + "kind": "open", + "start_frame": 187, + "end_frame": 201 + }, + { + "frame": 272, + "arm": "right", + "kind": "open", + "start_frame": 265, + "end_frame": 279 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000247.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000247.json new file mode 100644 index 0000000000000000000000000000000000000000..210d50b2b11fcc2a12c9b97af64117100edbbdfe --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000247.json @@ -0,0 +1,84 @@ +{ + "episode_index": 247, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block with the left hand and pass it.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 110, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 111, + "end_frame": 178, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 179, + "end_frame": 270, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000248.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000248.json new file mode 100644 index 0000000000000000000000000000000000000000..41155b1f9666ceb4c94fdfcaaa65421a315f7f96 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000248.json @@ -0,0 +1,84 @@ +{ + "episode_index": 248, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hold the red block, transfer to the right arm, then set it down.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 117, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 118, + "end_frame": 184, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 185, + "end_frame": 277, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000249.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000249.json new file mode 100644 index 0000000000000000000000000000000000000000..61f574a0a9de2204fa55fb927340723b304e63eb --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000249.json @@ -0,0 +1,84 @@ +{ + "episode_index": 249, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block, hand it over, and place it properly.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000250.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000250.json new file mode 100644 index 0000000000000000000000000000000000000000..9aa4ab9ff08e4b85ea21635bbd06a30839914a34 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000250.json @@ -0,0 +1,84 @@ +{ + "episode_index": 250, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 276, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000251.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000251.json new file mode 100644 index 0000000000000000000000000000000000000000..b264b8a1e5638bfee81f3906638cb7e7d6a8d410 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000251.json @@ -0,0 +1,84 @@ +{ + "episode_index": 251, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Place the red block on the blue pad.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 111, + "end_frame": 178, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 179, + "end_frame": 270, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000252.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000252.json new file mode 100644 index 0000000000000000000000000000000000000000..558416b6e2a657601cae766386ccb858d0f4fdb7 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000252.json @@ -0,0 +1,84 @@ +{ + "episode_index": 252, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab red block, pass to the right arm, then drop on blue pad.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 116, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 117, + "end_frame": 184, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 185, + "end_frame": 277, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000253.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000253.json new file mode 100644 index 0000000000000000000000000000000000000000..d17e7ae8e54f968e5db3a2c027970d5bd052da0b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000253.json @@ -0,0 +1,84 @@ +{ + "episode_index": 253, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block and move it to the pad.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 115, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 116, + "end_frame": 183, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 184, + "end_frame": 276, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000254.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000254.json new file mode 100644 index 0000000000000000000000000000000000000000..1381eea952ccdf679ba58bddb74e10083672e59b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000254.json @@ -0,0 +1,84 @@ +{ + "episode_index": 254, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block and move it to the pad.", + "num_frames": 275, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 107, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 108, + "end_frame": 175, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 176, + "end_frame": 269, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 161, + "arm": "right", + "kind": "close", + "start_frame": 154, + "end_frame": 168 + }, + { + "frame": 183, + "arm": "left", + "kind": "open", + "start_frame": 176, + "end_frame": 190 + }, + { + "frame": 262, + "arm": "right", + "kind": "open", + "start_frame": 255, + "end_frame": 269 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000255.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000255.json new file mode 100644 index 0000000000000000000000000000000000000000..58c4f0b73acb169341ea62729237498c60ece9d5 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000255.json @@ -0,0 +1,84 @@ +{ + "episode_index": 255, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the block with the left arm, pass it to the right arm.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000256.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000256.json new file mode 100644 index 0000000000000000000000000000000000000000..c83ce8db243348f789ed48fcd460b165ae36f349 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000256.json @@ -0,0 +1,84 @@ +{ + "episode_index": 256, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "The left arm should grab the red block, hand it to the right, and put it on the blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000257.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000257.json new file mode 100644 index 0000000000000000000000000000000000000000..cf436e260332ad507b331591979173492b67a137 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000257.json @@ -0,0 +1,84 @@ +{ + "episode_index": 257, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Place the red block onto the blue pad using the right arm.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000258.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000258.json new file mode 100644 index 0000000000000000000000000000000000000000..596174f556f8021b0c931be1f0f27164d2f0ae90 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000258.json @@ -0,0 +1,84 @@ +{ + "episode_index": 258, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Move the red block from the left hand to the pad.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 115, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 116, + "end_frame": 183, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the 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a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000259.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000259.json new file mode 100644 index 0000000000000000000000000000000000000000..f7bc30ff77f04b9f762f7caa9ca6496eed7ecc50 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000259.json @@ -0,0 +1,84 @@ +{ + "episode_index": 259, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 294, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 77, + "end_frame": 131, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 132, + "end_frame": 198, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 199, + "end_frame": 288, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 184, + "arm": "right", + "kind": "close", + "start_frame": 177, + "end_frame": 191 + }, + { + "frame": 206, + "arm": "left", + "kind": "open", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 281, + "arm": "right", + "kind": "open", + "start_frame": 274, + "end_frame": 288 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000260.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000260.json new file mode 100644 index 0000000000000000000000000000000000000000..75a13b6f8de498231e3cde9cea11ba6c758bf484 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000260.json @@ -0,0 +1,84 @@ +{ + "episode_index": 260, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 116, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 117, + "end_frame": 184, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 185, + "end_frame": 277, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000261.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000261.json new file mode 100644 index 0000000000000000000000000000000000000000..dde2b4ff43bef3f6fd1a8ecb3700f8fb98d60492 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000261.json @@ -0,0 +1,84 @@ +{ + "episode_index": 261, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block using the left arm and hand it over.", + "num_frames": 287, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": 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"gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 173, + "arm": "right", + "kind": "close", + "start_frame": 166, + "end_frame": 180 + }, + { + "frame": 195, + "arm": "left", + "kind": "open", + "start_frame": 188, + "end_frame": 202 + }, + { + "frame": 274, + "arm": "right", + "kind": "open", + "start_frame": 267, + "end_frame": 281 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000262.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000262.json new file mode 100644 index 0000000000000000000000000000000000000000..0d9bccd0d06634416463c36151a4b792cb4013f4 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000262.json @@ -0,0 +1,84 @@ +{ + "episode_index": 262, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Place the red block on the blue pad.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 117, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 118, + "end_frame": 185, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 186, + "end_frame": 276, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 171, + "arm": "right", + "kind": "close", + "start_frame": 164, + "end_frame": 178 + }, + { + "frame": 193, + "arm": "left", + "kind": "open", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000263.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000263.json new file mode 100644 index 0000000000000000000000000000000000000000..c8d1b3b9ed48d2bd9efe75b70988868b35b9d0af --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000263.json @@ -0,0 +1,84 @@ +{ + "episode_index": 263, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block using the left arm and hand it over.", + "num_frames": 275, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the 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"after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 161, + "arm": "right", + "kind": "close", + "start_frame": 154, + "end_frame": 168 + }, + { + "frame": 183, + "arm": "left", + "kind": "open", + "start_frame": 176, + "end_frame": 190 + }, + { + "frame": 262, + "arm": "right", + "kind": "open", + "start_frame": 255, + "end_frame": 269 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000264.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000264.json new file mode 100644 index 0000000000000000000000000000000000000000..796127350f6c88b837af20d51471e5baceb9dcef --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000264.json @@ -0,0 +1,84 @@ +{ + "episode_index": 264, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up and handover the red block.", + "num_frames": 309, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 83, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 84, + "end_frame": 134, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 135, + "end_frame": 202, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 203, + "end_frame": 303, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 66, + "arm": "left", + "kind": "close", + "start_frame": 59, + "end_frame": 73 + }, + { + "frame": 188, + "arm": "right", + "kind": "close", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 210, + "arm": "left", + "kind": "open", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 296, + "arm": "right", + "kind": "open", + "start_frame": 289, + "end_frame": 303 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000265.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000265.json new file mode 100644 index 0000000000000000000000000000000000000000..4c52e72fef8b260f6d3a0d33348f454fc58cf6ac --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000265.json @@ -0,0 +1,84 @@ +{ + "episode_index": 265, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hand the red block to the right arm.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000266.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000266.json new file mode 100644 index 0000000000000000000000000000000000000000..51229c541d792ac951204a97746211adf6681c32 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000266.json @@ -0,0 +1,84 @@ +{ + "episode_index": 266, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 108, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 109, + "end_frame": 176, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 177, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 162, + "arm": "right", + "kind": "close", + "start_frame": 155, + "end_frame": 169 + }, + { + "frame": 184, + "arm": "left", + "kind": "open", + "start_frame": 177, + "end_frame": 191 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000267.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000267.json new file mode 100644 index 0000000000000000000000000000000000000000..2d495bad076e597b9b4e6bdca2734a8a2411b8dd --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000267.json @@ -0,0 +1,84 @@ +{ + "episode_index": 267, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use left arm to grab the red block and place it on the pad.", + "num_frames": 290, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 78, + "end_frame": 119, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 120, + "end_frame": 187, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 188, + "end_frame": 284, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 173, + "arm": "right", + "kind": "close", + "start_frame": 166, + "end_frame": 180 + }, + { + "frame": 195, + "arm": "left", + "kind": "open", + "start_frame": 188, + "end_frame": 202 + }, + { + "frame": 277, + "arm": "right", + "kind": "open", + "start_frame": 270, + "end_frame": 284 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000268.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000268.json new file mode 100644 index 0000000000000000000000000000000000000000..bcb6f4defe79366af29ff33da0542cc9147a942e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000268.json @@ -0,0 +1,84 @@ +{ + "episode_index": 268, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block, pass it to the right arm, then place it.", + "num_frames": 286, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 118, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 119, + "end_frame": 187, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 188, + "end_frame": 280, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 173, + "arm": "right", + "kind": "close", + "start_frame": 166, + "end_frame": 180 + }, + { + "frame": 195, + "arm": "left", + "kind": "open", + "start_frame": 188, + "end_frame": 202 + }, + { + "frame": 273, + "arm": "right", + "kind": "open", + "start_frame": 266, + "end_frame": 280 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000269.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000269.json new file mode 100644 index 0000000000000000000000000000000000000000..65c02e4055a521d4d5c43cdcf5ff04bc0677b36c --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000269.json @@ -0,0 +1,84 @@ +{ + "episode_index": 269, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 109, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 110, + "end_frame": 177, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 178, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 163, + "arm": "right", + "kind": "close", + "start_frame": 156, + "end_frame": 170 + }, + { + "frame": 185, + "arm": "left", + "kind": "open", + "start_frame": 178, + "end_frame": 192 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000270.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000270.json new file mode 100644 index 0000000000000000000000000000000000000000..f2bc831b39a0ea17f825eafb757ab1e70eaaf245 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000270.json @@ -0,0 +1,84 @@ +{ + "episode_index": 270, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.", + "num_frames": 290, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 78, + "end_frame": 124, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 125, + "end_frame": 191, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 192, + "end_frame": 284, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 177, + "arm": "right", + "kind": "close", + "start_frame": 170, + "end_frame": 184 + }, + { + "frame": 199, + "arm": "left", + "kind": "open", + "start_frame": 192, + "end_frame": 206 + }, + { + "frame": 277, + "arm": "right", + "kind": "open", + "start_frame": 270, + "end_frame": 284 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000271.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000271.json new file mode 100644 index 0000000000000000000000000000000000000000..f0c59ec7aaf5fcd8cb80bc14653b7cd9546f160f --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000271.json @@ -0,0 +1,84 @@ +{ + "episode_index": 271, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.", + "num_frames": 292, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 78, + "end_frame": 124, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 125, + "end_frame": 192, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 193, + "end_frame": 286, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 178, + "arm": "right", + "kind": "close", + "start_frame": 171, + "end_frame": 185 + }, + { + "frame": 200, + "arm": "left", + "kind": "open", + "start_frame": 193, + "end_frame": 207 + }, + { + "frame": 279, + "arm": "right", + "kind": "open", + "start_frame": 272, + "end_frame": 286 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000272.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000272.json new file mode 100644 index 0000000000000000000000000000000000000000..0990d963e40d4c65e0d12ca62a447dd76dad7495 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000272.json @@ -0,0 +1,84 @@ +{ + "episode_index": 272, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "The left arm should grab the red block, hand it to the right, and put it on the blue pad.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 108, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 109, + "end_frame": 176, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 177, + "end_frame": 270, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 162, + "arm": "right", + "kind": "close", + "start_frame": 155, + "end_frame": 169 + }, + { + "frame": 184, + "arm": "left", + "kind": "open", + "start_frame": 177, + "end_frame": 191 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000273.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000273.json new file mode 100644 index 0000000000000000000000000000000000000000..a99651f16c6b531c2b12b6286660f8cf65cf6435 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000273.json @@ -0,0 +1,84 @@ +{ + "episode_index": 273, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.", + "num_frames": 305, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 81, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 82, + "end_frame": 130, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 131, + "end_frame": 198, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 199, + "end_frame": 299, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 184, + "arm": "right", + "kind": "close", + "start_frame": 177, + "end_frame": 191 + }, + { + "frame": 206, + "arm": "left", + "kind": "open", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 292, + "arm": "right", + "kind": "open", + "start_frame": 285, + "end_frame": 299 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000274.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000274.json new file mode 100644 index 0000000000000000000000000000000000000000..f98b217a2c9d0239f1c186188e40eaeac08847f1 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000274.json @@ -0,0 +1,84 @@ +{ + "episode_index": 274, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000275.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000275.json new file mode 100644 index 0000000000000000000000000000000000000000..dc921e486190df96ff14379de05610f1951954e8 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000275.json @@ -0,0 +1,84 @@ +{ + "episode_index": 275, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab red block, pass to the right arm, then drop on blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000276.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000276.json new file mode 100644 index 0000000000000000000000000000000000000000..fd9efdf30e121b074657d743f04c38b46474df1e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000276.json @@ -0,0 +1,84 @@ +{ + "episode_index": 276, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Place the red block onto the blue pad using the right arm.", + "num_frames": 306, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 80, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 81, + "end_frame": 139, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 207, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 208, + "end_frame": 300, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 65, + "arm": "left", + "kind": "close", + "start_frame": 58, + "end_frame": 72 + }, + { + "frame": 193, + "arm": "right", + "kind": "close", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 215, + "arm": "left", + "kind": "open", + "start_frame": 208, + "end_frame": 222 + }, + { + "frame": 293, + "arm": "right", + "kind": "open", + "start_frame": 286, + "end_frame": 300 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000277.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000277.json new file mode 100644 index 0000000000000000000000000000000000000000..8251eaa541e47c637e33ae52ba26820217d490be --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000277.json @@ -0,0 +1,84 @@ +{ + "episode_index": 277, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000278.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000278.json new file mode 100644 index 0000000000000000000000000000000000000000..4991e9ea315d8ff8d6ecaea3484ec82d63d6d526 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000278.json @@ -0,0 +1,84 @@ +{ + "episode_index": 278, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 115, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 116, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000279.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000279.json new file mode 100644 index 0000000000000000000000000000000000000000..61066ee52cf3f79ba29ed9a530aa4bd62781305f --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000279.json @@ -0,0 +1,84 @@ +{ + "episode_index": 279, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.", + "num_frames": 301, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 79, + "end_frame": 135, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 136, + "end_frame": 203, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 204, + "end_frame": 295, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 189, + "arm": "right", + "kind": "close", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 211, + "arm": "left", + "kind": "open", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 288, + "arm": "right", + "kind": "open", + "start_frame": 281, + "end_frame": 295 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000280.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000280.json new file mode 100644 index 0000000000000000000000000000000000000000..c10d6253fc64dfbedfcd04d8699964c3090fa644 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000280.json @@ -0,0 +1,84 @@ +{ + "episode_index": 280, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block, pass it to the right arm, then place it.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000281.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000281.json new file mode 100644 index 0000000000000000000000000000000000000000..c33ad10e677b98b1df79b93d9a9ea8482d2ebb4f --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000281.json @@ -0,0 +1,84 @@ +{ + "episode_index": 281, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grab the red block.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000282.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000282.json new file mode 100644 index 0000000000000000000000000000000000000000..372f15555dd8afa75bdb63c4f6db2e6ade0e7a11 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000282.json @@ -0,0 +1,84 @@ +{ + "episode_index": 282, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block and transfer to the right.", + "num_frames": 284, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 115, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 116, + "end_frame": 183, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 184, + "end_frame": 278, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 271, + "arm": "right", + "kind": "open", + "start_frame": 264, + "end_frame": 278 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000283.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000283.json new file mode 100644 index 0000000000000000000000000000000000000000..992ffc5cd00578a9d84a8fd8dbccb8cb5cb1a65d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000283.json @@ -0,0 +1,84 @@ +{ + "episode_index": 283, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grab the red block.", + "num_frames": 292, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 79, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 80, + "end_frame": 123, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 124, + "end_frame": 191, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other 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a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000284.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000284.json new file mode 100644 index 0000000000000000000000000000000000000000..6ed2663d30e199cf893afa7eb10cf8d29da3ae70 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000284.json @@ -0,0 +1,84 @@ +{ + "episode_index": 284, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use your arms to shift the red block.", + "num_frames": 290, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 77, + "end_frame": 120, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 121, + "end_frame": 188, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 189, + "end_frame": 284, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 174, + "arm": "right", + "kind": "close", + "start_frame": 167, + "end_frame": 181 + }, + { + "frame": 196, + "arm": "left", + "kind": "open", + "start_frame": 189, + "end_frame": 203 + }, + { + "frame": 277, + "arm": "right", + "kind": "open", + "start_frame": 270, + "end_frame": 284 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000285.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000285.json new file mode 100644 index 0000000000000000000000000000000000000000..a1b15638ee8b0201c67a1d6b99a15238b01506eb --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000285.json @@ -0,0 +1,84 @@ +{ + "episode_index": 285, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 292, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 122, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 123, + "end_frame": 190, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 191, + "end_frame": 286, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 176, + "arm": "right", + "kind": "close", + "start_frame": 169, + "end_frame": 183 + }, + { + "frame": 198, + "arm": "left", + "kind": "open", + "start_frame": 191, + "end_frame": 205 + }, + { + "frame": 279, + "arm": "right", + "kind": "open", + "start_frame": 272, + "end_frame": 286 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000286.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000286.json new file mode 100644 index 0000000000000000000000000000000000000000..e8c7008b7ccc4d6714710e57b795ea9d5b6c53d1 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000286.json @@ -0,0 +1,84 @@ +{ + "episode_index": 286, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 286, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 117, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 118, + "end_frame": 185, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 186, + "end_frame": 280, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 171, + "arm": "right", + "kind": "close", + "start_frame": 164, + "end_frame": 178 + }, + { + "frame": 193, + "arm": "left", + "kind": "open", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 273, + "arm": "right", + "kind": "open", + "start_frame": 266, + "end_frame": 280 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000287.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000287.json new file mode 100644 index 0000000000000000000000000000000000000000..ae52c3748e65b178a40f0f11ab21415e13165c0d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000287.json @@ -0,0 +1,84 @@ +{ + "episode_index": 287, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hand over the red block to the right arm.", + "num_frames": 275, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 108, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 109, + "end_frame": 176, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 177, + "end_frame": 269, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 162, + "arm": "right", + "kind": "close", + "start_frame": 155, + "end_frame": 169 + }, + { + "frame": 184, + "arm": "left", + "kind": "open", + "start_frame": 177, + "end_frame": 191 + }, + { + "frame": 262, + "arm": "right", + "kind": "open", + "start_frame": 255, + "end_frame": 269 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000288.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000288.json new file mode 100644 index 0000000000000000000000000000000000000000..736a6180397cca6c3d5aa6e739f418e999ee6193 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000288.json @@ -0,0 +1,84 @@ +{ + "episode_index": 288, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.", + "num_frames": 292, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 124, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 125, + "end_frame": 192, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 193, + "end_frame": 286, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 178, + "arm": "right", + "kind": "close", + "start_frame": 171, + "end_frame": 185 + }, + { + "frame": 200, + "arm": "left", + "kind": "open", + "start_frame": 193, + "end_frame": 207 + }, + { + "frame": 279, + "arm": "right", + "kind": "open", + "start_frame": 272, + "end_frame": 286 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000289.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000289.json new file mode 100644 index 0000000000000000000000000000000000000000..8ec7808358ed8c0a20460b058796c43900672105 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000289.json @@ -0,0 +1,84 @@ +{ + "episode_index": 289, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Place the red block onto the blue pad using the right arm.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000290.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000290.json new file mode 100644 index 0000000000000000000000000000000000000000..2d23901ae6db999e7c858739147a64ce791dc1af --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000290.json @@ -0,0 +1,84 @@ +{ + "episode_index": 290, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use left arm to grab the block and hand it to the right.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 276, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000291.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000291.json new file mode 100644 index 0000000000000000000000000000000000000000..0c80b1b3930ddd138c142ee2756560fb2cbf75b5 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000291.json @@ -0,0 +1,84 @@ +{ + "episode_index": 291, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grip the red block with the left arm and transfer it.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 277, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000292.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000292.json new file mode 100644 index 0000000000000000000000000000000000000000..132995c1e5fd55eb4c3bd29fbbc0946049541ed5 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000292.json @@ -0,0 +1,84 @@ +{ + "episode_index": 292, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block with the left arm and transfer to the right.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 116, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 117, + "end_frame": 184, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 185, + "end_frame": 277, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000293.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000293.json new file mode 100644 index 0000000000000000000000000000000000000000..af442f0b9684606cbdd670323aef098b26ff0e96 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000293.json @@ -0,0 +1,84 @@ +{ + "episode_index": 293, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hand over the red block to the right arm.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 109, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 110, + "end_frame": 177, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 178, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 163, + "arm": "right", + "kind": "close", + "start_frame": 156, + "end_frame": 170 + }, + { + "frame": 185, + "arm": "left", + "kind": "open", + "start_frame": 178, + "end_frame": 192 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000294.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000294.json new file mode 100644 index 0000000000000000000000000000000000000000..d0574d5f75e904592b875bc99985b7c5e6ce390e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000294.json @@ -0,0 +1,84 @@ +{ + "episode_index": 294, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Place the red block onto the blue pad using the right arm.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 111, + "end_frame": 177, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 178, + "end_frame": 270, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 163, + "arm": "right", + "kind": "close", + "start_frame": 156, + "end_frame": 170 + }, + { + "frame": 185, + "arm": "left", + "kind": "open", + "start_frame": 178, + "end_frame": 192 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000295.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000295.json new file mode 100644 index 0000000000000000000000000000000000000000..f3badc212556c23aa6dc889996cec256f47489ab --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000295.json @@ -0,0 +1,84 @@ +{ + "episode_index": 295, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up and handover the red block.", + "num_frames": 274, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 109, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 110, + "end_frame": 177, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 178, + "end_frame": 268, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 163, + "arm": "right", + "kind": "close", + "start_frame": 156, + "end_frame": 170 + }, + { + "frame": 185, + "arm": "left", + "kind": "open", + "start_frame": 178, + "end_frame": 192 + }, + { + "frame": 261, + "arm": "right", + "kind": "open", + "start_frame": 254, + "end_frame": 268 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000296.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000296.json new file mode 100644 index 0000000000000000000000000000000000000000..1f0f6638d836bec867e84489414db91e084d8fc2 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000296.json @@ -0,0 +1,84 @@ +{ + "episode_index": 296, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pass the red block from the left to the right.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000297.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000297.json new file mode 100644 index 0000000000000000000000000000000000000000..5f86172fca9f9915471bdfb1e31fa51074dc13db --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000297.json @@ -0,0 +1,84 @@ +{ + "episode_index": 297, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up and handover the red block.", + "num_frames": 290, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 121, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 122, + "end_frame": 189, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 190, + "end_frame": 284, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 175, + "arm": "right", + "kind": "close", + "start_frame": 168, + "end_frame": 182 + }, + { + "frame": 197, + "arm": "left", + "kind": "open", + "start_frame": 190, + "end_frame": 204 + }, + { + "frame": 277, + "arm": "right", + "kind": "open", + "start_frame": 270, + "end_frame": 284 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000298.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000298.json new file mode 100644 index 0000000000000000000000000000000000000000..3da77de8514e4326ff1af523dcd0024a066a071a --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000298.json @@ -0,0 +1,84 @@ +{ + "episode_index": 298, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000299.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000299.json new file mode 100644 index 0000000000000000000000000000000000000000..75ec5c2cea144063182f28688aec88b2bf43d42e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000299.json @@ -0,0 +1,84 @@ +{ + "episode_index": 299, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hand over the red block to the right arm.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 270, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000300.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000300.json new file mode 100644 index 0000000000000000000000000000000000000000..08cb41ff77623bcd6e292b1172dd44f5adea37e6 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000300.json @@ -0,0 +1,84 @@ +{ + "episode_index": 300, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grip the red block with the left arm and transfer it.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 78, + "end_frame": 116, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 117, + "end_frame": 184, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 185, + "end_frame": 277, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000301.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000301.json new file mode 100644 index 0000000000000000000000000000000000000000..6454cfeac6725c8277ddea2253d85df87fdf5b14 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000301.json @@ -0,0 +1,84 @@ +{ + "episode_index": 301, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.", + "num_frames": 284, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 118, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 119, + "end_frame": 185, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 186, + "end_frame": 278, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 171, + "arm": "right", + "kind": "close", + "start_frame": 164, + "end_frame": 178 + }, + { + "frame": 193, + "arm": "left", + "kind": "open", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 271, + "arm": "right", + "kind": "open", + "start_frame": 264, + "end_frame": 278 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000302.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000302.json new file mode 100644 index 0000000000000000000000000000000000000000..2612c5ce934500e39aaef7e94b54e259f32f834d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000302.json @@ -0,0 +1,84 @@ +{ + "episode_index": 302, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Move the red block using the left arm.", + "num_frames": 285, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 117, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 118, + "end_frame": 185, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 186, + "end_frame": 279, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 171, + "arm": "right", + "kind": "close", + "start_frame": 164, + "end_frame": 178 + }, + { + "frame": 193, + "arm": "left", + "kind": "open", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 272, + "arm": "right", + "kind": "open", + "start_frame": 265, + "end_frame": 279 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000303.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000303.json new file mode 100644 index 0000000000000000000000000000000000000000..83cc7135f35135b7e035e7b98967345d7f70088e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000303.json @@ -0,0 +1,84 @@ +{ + "episode_index": 303, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 110, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 111, + "end_frame": 178, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 179, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000304.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000304.json new file mode 100644 index 0000000000000000000000000000000000000000..fc514cec5170cc4562b3387bc772f7dfea7fd89b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000304.json @@ -0,0 +1,84 @@ +{ + "episode_index": 304, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000305.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000305.json new file mode 100644 index 0000000000000000000000000000000000000000..65716a0d7a7469b3ab503cff1a21acece7500829 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000305.json @@ -0,0 +1,84 @@ +{ + "episode_index": 305, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the block with the left arm, pass it to the right arm.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 276, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000306.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000306.json new file mode 100644 index 0000000000000000000000000000000000000000..7f0976c0898f170f69ffc86ba135f6717e7e19f0 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000306.json @@ -0,0 +1,84 @@ +{ + "episode_index": 306, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000307.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000307.json new file mode 100644 index 0000000000000000000000000000000000000000..701222b5cc11420b9d70ad15328687b19a25dc5e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000307.json @@ -0,0 +1,84 @@ +{ + "episode_index": 307, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Place the red block on the blue pad.", + "num_frames": 285, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 117, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 118, + "end_frame": 185, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 186, + "end_frame": 279, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 171, + "arm": "right", + "kind": "close", + "start_frame": 164, + "end_frame": 178 + }, + { + "frame": 193, + "arm": "left", + "kind": "open", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 272, + "arm": "right", + "kind": "open", + "start_frame": 265, + "end_frame": 279 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000308.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000308.json new file mode 100644 index 0000000000000000000000000000000000000000..276ace1c1e65fc19c68577b920ea556e317a4b72 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000308.json @@ -0,0 +1,84 @@ +{ + "episode_index": 308, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use left arm to grab the red block and place it on the pad.", + "num_frames": 298, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 80, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 81, + "end_frame": 128, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 129, + "end_frame": 196, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 197, + "end_frame": 292, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 65, + "arm": "left", + "kind": "close", + "start_frame": 58, + "end_frame": 72 + }, + { + "frame": 182, + "arm": "right", + "kind": "close", + "start_frame": 175, + "end_frame": 189 + }, + { + "frame": 204, + "arm": "left", + "kind": "open", + "start_frame": 197, + "end_frame": 211 + }, + { + "frame": 285, + "arm": "right", + "kind": "open", + "start_frame": 278, + "end_frame": 292 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000309.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000309.json new file mode 100644 index 0000000000000000000000000000000000000000..abbb41d6123bfdcc2efc3931df0e5a90322a1c36 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000309.json @@ -0,0 +1,84 @@ +{ + "episode_index": 309, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.", + "num_frames": 299, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 79, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 80, + "end_frame": 130, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 131, + "end_frame": 198, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 199, + "end_frame": 293, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "left", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 184, + "arm": "right", + "kind": "close", + "start_frame": 177, + "end_frame": 191 + }, + { + "frame": 206, + "arm": "left", + "kind": "open", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 286, + "arm": "right", + "kind": "open", + "start_frame": 279, + "end_frame": 293 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000310.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000310.json new file mode 100644 index 0000000000000000000000000000000000000000..04d202f861c47a5d927547551877af016b9b0917 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000310.json @@ -0,0 +1,84 @@ +{ + "episode_index": 310, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift, switch arms, and place the red block.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 115, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 116, + "end_frame": 183, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 184, + "end_frame": 276, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000311.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000311.json new file mode 100644 index 0000000000000000000000000000000000000000..db554f35bb876878a398f46ab2e8f168bb9ccf23 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000311.json @@ -0,0 +1,84 @@ +{ + "episode_index": 311, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift, switch arms, and place the red block.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 270, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000312.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000312.json new file mode 100644 index 0000000000000000000000000000000000000000..51a6adb08e925fd2e90e8aa7f454228646de2341 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000312.json @@ -0,0 +1,84 @@ +{ + "episode_index": 312, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block using the left arm and hand it over.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000313.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000313.json new file mode 100644 index 0000000000000000000000000000000000000000..b78935b54f46ebff5706d564b412f456d8a79be2 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000313.json @@ -0,0 +1,84 @@ +{ + "episode_index": 313, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block and move it to the pad.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 115, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 116, + "end_frame": 183, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 184, + "end_frame": 277, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000314.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000314.json new file mode 100644 index 0000000000000000000000000000000000000000..3252ac97b3425f503e131dff18f62b86763755f2 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000314.json @@ -0,0 +1,84 @@ +{ + "episode_index": 314, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hand over the red block to the right arm.", + "num_frames": 296, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 79, + "end_frame": 129, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 130, + "end_frame": 197, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 198, + "end_frame": 290, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 183, + "arm": "right", + "kind": "close", + "start_frame": 176, + "end_frame": 190 + }, + { + "frame": 205, + "arm": "left", + "kind": "open", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 283, + "arm": "right", + "kind": "open", + "start_frame": 276, + "end_frame": 290 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000315.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000315.json new file mode 100644 index 0000000000000000000000000000000000000000..1b5a754c777ee587e27a556af3cb26544ab90e06 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000315.json @@ -0,0 +1,84 @@ +{ + "episode_index": 315, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000316.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000316.json new file mode 100644 index 0000000000000000000000000000000000000000..a846cb173456baf10143c34d141e69c1946774c0 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000316.json @@ -0,0 +1,84 @@ +{ + "episode_index": 316, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000317.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000317.json new file mode 100644 index 0000000000000000000000000000000000000000..bd8031015728755758f986509d73c4bd8277b699 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000317.json @@ -0,0 +1,84 @@ +{ + "episode_index": 317, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 110, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 111, + "end_frame": 178, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 179, + "end_frame": 270, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000318.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000318.json new file mode 100644 index 0000000000000000000000000000000000000000..e46d11c4cabb7b0fb638cbbcde3a5b779f4ed62d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000318.json @@ -0,0 +1,84 @@ +{ + "episode_index": 318, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.", + "num_frames": 296, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 79, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 80, + "end_frame": 128, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 129, + "end_frame": 196, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 197, + "end_frame": 290, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "left", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 182, + "arm": "right", + "kind": "close", + "start_frame": 175, + "end_frame": 189 + }, + { + "frame": 204, + "arm": "left", + "kind": "open", + "start_frame": 197, + "end_frame": 211 + }, + { + "frame": 283, + "arm": "right", + "kind": "open", + "start_frame": 276, + "end_frame": 290 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000319.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000319.json new file mode 100644 index 0000000000000000000000000000000000000000..1f8b3464edc63882e70f7bd126ba8b5b900d0174 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000319.json @@ -0,0 +1,84 @@ +{ + "episode_index": 319, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000320.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000320.json new file mode 100644 index 0000000000000000000000000000000000000000..48923da6d20c6db304c6f32569046ddf8e77c5f7 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000320.json @@ -0,0 +1,84 @@ +{ + "episode_index": 320, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use left arm to grab the red block and place it on the pad.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 276, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000321.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000321.json new file mode 100644 index 0000000000000000000000000000000000000000..0935cef660afab911340a78e97e895f0cca690f5 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000321.json @@ -0,0 +1,84 @@ +{ + "episode_index": 321, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000322.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000322.json new file mode 100644 index 0000000000000000000000000000000000000000..9489194198fb154c24b4449ba5c4d28c68e2db53 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000322.json @@ -0,0 +1,84 @@ +{ + "episode_index": 322, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block, hand it to the right arm, then set it down.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000323.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000323.json new file mode 100644 index 0000000000000000000000000000000000000000..e34f601c004c2a13956f8232a7d40a5f17f0ca62 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000323.json @@ -0,0 +1,84 @@ +{ + "episode_index": 323, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block, transfer it, and set it on blue.", + "num_frames": 295, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 79, + "end_frame": 127, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 128, + "end_frame": 195, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 196, + "end_frame": 289, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 181, + "arm": "right", + "kind": "close", + "start_frame": 174, + "end_frame": 188 + }, + { + "frame": 203, + "arm": "left", + "kind": "open", + "start_frame": 196, + "end_frame": 210 + }, + { + "frame": 282, + "arm": "right", + "kind": "open", + "start_frame": 275, + "end_frame": 289 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000324.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000324.json new file mode 100644 index 0000000000000000000000000000000000000000..3a7f613a1d76891f7175957247898dd5220636d2 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000324.json @@ -0,0 +1,84 @@ +{ + "episode_index": 324, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block with the left arm and transfer to the right.", + "num_frames": 325, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 90, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 91, + "end_frame": 143, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 211, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 212, + "end_frame": 319, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 71, + "arm": "left", + "kind": "close", + "start_frame": 64, + "end_frame": 78 + }, + { + "frame": 197, + "arm": "right", + "kind": "close", + "start_frame": 190, + "end_frame": 204 + }, + { + "frame": 219, + "arm": "left", + "kind": "open", + "start_frame": 212, + "end_frame": 226 + }, + { + "frame": 312, + "arm": "right", + "kind": "open", + "start_frame": 305, + "end_frame": 319 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000325.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000325.json new file mode 100644 index 0000000000000000000000000000000000000000..73bf48f4241818067fbe8a568a231cd7ce5f2d6c --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000325.json @@ -0,0 +1,84 @@ +{ + "episode_index": 325, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000326.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000326.json new file mode 100644 index 0000000000000000000000000000000000000000..7182f85a595d1ac9990602eca7533dc9a23135c4 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000326.json @@ -0,0 +1,84 @@ +{ + "episode_index": 326, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up and handover the red block.", + "num_frames": 310, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 83, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 84, + "end_frame": 142, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 210, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 211, + "end_frame": 304, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 68, + "arm": "left", + "kind": "close", + "start_frame": 61, + "end_frame": 75 + }, + { + "frame": 196, + "arm": "right", + "kind": "close", + "start_frame": 189, + "end_frame": 203 + }, + { + "frame": 218, + "arm": "left", + "kind": "open", + "start_frame": 211, + "end_frame": 225 + }, + { + "frame": 297, + "arm": "right", + "kind": "open", + "start_frame": 290, + "end_frame": 304 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000327.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000327.json new file mode 100644 index 0000000000000000000000000000000000000000..90c7026d72ab7272c02f4b8507cdd9ec9c573156 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000327.json @@ -0,0 +1,84 @@ +{ + "episode_index": 327, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.", + "num_frames": 287, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 77, + "end_frame": 120, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 121, + "end_frame": 188, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 189, + "end_frame": 281, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 174, + "arm": "right", + "kind": "close", + "start_frame": 167, + "end_frame": 181 + }, + { + "frame": 196, + "arm": "left", + "kind": "open", + "start_frame": 189, + "end_frame": 203 + }, + { + "frame": 274, + "arm": "right", + "kind": "open", + "start_frame": 267, + "end_frame": 281 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000328.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000328.json new file mode 100644 index 0000000000000000000000000000000000000000..2bfd4f2d804d8b555ea10b443345d6df86b86f27 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000328.json @@ -0,0 +1,84 @@ +{ + "episode_index": 328, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block, transfer it, and set it on blue.", + "num_frames": 294, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 79, + "end_frame": 127, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 128, + "end_frame": 195, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 196, + "end_frame": 288, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 181, + "arm": "right", + "kind": "close", + "start_frame": 174, + "end_frame": 188 + }, + { + "frame": 203, + "arm": "left", + "kind": "open", + "start_frame": 196, + "end_frame": 210 + }, + { + "frame": 281, + "arm": "right", + "kind": "open", + "start_frame": 274, + "end_frame": 288 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000329.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000329.json new file mode 100644 index 0000000000000000000000000000000000000000..4f4e3e2b12bb876a67162066c99d748b4cccdd07 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000329.json @@ -0,0 +1,84 @@ +{ + "episode_index": 329, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 111, + "end_frame": 178, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 179, + "end_frame": 270, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000330.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000330.json new file mode 100644 index 0000000000000000000000000000000000000000..e62746dab79b891f01112060567d2bdeac2ddd9c --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000330.json @@ -0,0 +1,84 @@ +{ + "episode_index": 330, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000331.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000331.json new file mode 100644 index 0000000000000000000000000000000000000000..915b0a089e56221d43a187b01dce2b9fa4de9af1 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000331.json @@ -0,0 +1,84 @@ +{ + "episode_index": 331, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use your arms to shift the red block.", + "num_frames": 292, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 77, + "end_frame": 124, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 125, + "end_frame": 192, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 193, + "end_frame": 286, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 178, + "arm": "right", + "kind": "close", + "start_frame": 171, + "end_frame": 185 + }, + { + "frame": 200, + "arm": "left", + "kind": "open", + "start_frame": 193, + "end_frame": 207 + }, + { + "frame": 279, + "arm": "right", + "kind": "open", + "start_frame": 272, + "end_frame": 286 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000332.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000332.json new file mode 100644 index 0000000000000000000000000000000000000000..39f127d87d4366d8ec207973dc299680eb2ca3f1 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000332.json @@ -0,0 +1,84 @@ +{ + "episode_index": 332, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block, hand it to the right arm, then set it down.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000333.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000333.json new file mode 100644 index 0000000000000000000000000000000000000000..0f04576eac67324b6ff052dd910115b9e25105aa --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000333.json @@ -0,0 +1,84 @@ +{ + "episode_index": 333, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use left arm to grab the block and hand it to the right.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000334.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000334.json new file mode 100644 index 0000000000000000000000000000000000000000..5efc5f31e3142e4413b6d4efbed6a0fffe322916 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000334.json @@ -0,0 +1,84 @@ +{ + "episode_index": 334, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 286, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 79, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 80, + "end_frame": 121, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 122, + "end_frame": 188, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 189, + "end_frame": 280, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "left", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 174, + "arm": "right", + "kind": "close", + "start_frame": 167, + "end_frame": 181 + }, + { + "frame": 196, + "arm": "left", + "kind": "open", + "start_frame": 189, + "end_frame": 203 + }, + { + "frame": 273, + "arm": "right", + "kind": "open", + "start_frame": 266, + "end_frame": 280 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000335.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000335.json new file mode 100644 index 0000000000000000000000000000000000000000..17e02925550feb1be1aa119fbba25a153c1715e8 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000335.json @@ -0,0 +1,84 @@ +{ + "episode_index": 335, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use left arm to grab the block and hand it to the right.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 110, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 111, + "end_frame": 178, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 179, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000336.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000336.json new file mode 100644 index 0000000000000000000000000000000000000000..a399c407f5064f28491a8aeda445aebf51cc89d1 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000336.json @@ -0,0 +1,84 @@ +{ + "episode_index": 336, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.", + "num_frames": 293, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 80, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 81, + "end_frame": 126, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 127, + "end_frame": 194, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 195, + "end_frame": 287, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 65, + "arm": "left", + "kind": "close", + "start_frame": 58, + "end_frame": 72 + }, + { + "frame": 180, + "arm": "right", + "kind": "close", + "start_frame": 173, + "end_frame": 187 + }, + { + "frame": 202, + "arm": "left", + "kind": "open", + "start_frame": 195, + "end_frame": 209 + }, + { + "frame": 280, + "arm": "right", + "kind": "open", + "start_frame": 273, + "end_frame": 287 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000337.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000337.json new file mode 100644 index 0000000000000000000000000000000000000000..e2de043bce54803317a4ae731ebbea687f48d268 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000337.json @@ -0,0 +1,84 @@ +{ + "episode_index": 337, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift, switch arms, and place the red block.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000338.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000338.json new file mode 100644 index 0000000000000000000000000000000000000000..ed78ff881b81669e0db4c3da84176da6fcc88d39 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000338.json @@ -0,0 +1,84 @@ +{ + "episode_index": 338, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block with the left hand and pass it.", + "num_frames": 295, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 79, + "end_frame": 126, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 127, + "end_frame": 194, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 195, + "end_frame": 289, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 180, + "arm": "right", + "kind": "close", + "start_frame": 173, + "end_frame": 187 + }, + { + "frame": 202, + "arm": "left", + "kind": "open", + "start_frame": 195, + "end_frame": 209 + }, + { + "frame": 282, + "arm": "right", + "kind": "open", + "start_frame": 275, + "end_frame": 289 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000339.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000339.json new file mode 100644 index 0000000000000000000000000000000000000000..5445bad4bd2fe64e4205941ace026126e4d8256d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000339.json @@ -0,0 +1,84 @@ +{ + "episode_index": 339, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block, transfer it, and set it on blue.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000340.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000340.json new file mode 100644 index 0000000000000000000000000000000000000000..bfcb44b13301d95449aa7039745f7513df1a2d75 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000340.json @@ -0,0 +1,84 @@ +{ + "episode_index": 340, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block with the left hand and pass it.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000341.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000341.json new file mode 100644 index 0000000000000000000000000000000000000000..fcd9e61b78fefbc87d1b49df354da43a5000759c --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000341.json @@ -0,0 +1,84 @@ +{ + "episode_index": 341, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block, hand it over, and place it properly.", + "num_frames": 298, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 79, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 80, + "end_frame": 131, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 132, + "end_frame": 199, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 200, + "end_frame": 292, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "left", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 185, + "arm": "right", + "kind": "close", + "start_frame": 178, + "end_frame": 192 + }, + { + "frame": 207, + "arm": "left", + "kind": "open", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 285, + "arm": "right", + "kind": "open", + "start_frame": 278, + "end_frame": 292 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000342.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000342.json new file mode 100644 index 0000000000000000000000000000000000000000..44f91cf2580e302a013fcb6f59e5c8902808d2f2 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000342.json @@ -0,0 +1,84 @@ +{ + "episode_index": 342, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.", + "num_frames": 292, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 78, + "end_frame": 123, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 124, + "end_frame": 191, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 192, + "end_frame": 286, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 177, + "arm": "right", + "kind": "close", + "start_frame": 170, + "end_frame": 184 + }, + { + "frame": 199, + "arm": "left", + "kind": "open", + "start_frame": 192, + "end_frame": 206 + }, + { + "frame": 279, + "arm": "right", + "kind": "open", + "start_frame": 272, + "end_frame": 286 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000343.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000343.json new file mode 100644 index 0000000000000000000000000000000000000000..741a887cebd7b685db652d54875e7c3e2335f01d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000343.json @@ -0,0 +1,84 @@ +{ + "episode_index": 343, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Set the red block on the blue pad gently.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 111, + "end_frame": 178, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 179, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000344.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000344.json new file mode 100644 index 0000000000000000000000000000000000000000..c4e2a563adc25a80bd5420a33a897c8fa5f45d71 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000344.json @@ -0,0 +1,84 @@ +{ + "episode_index": 344, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.", + "num_frames": 296, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 79, + "end_frame": 128, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 129, + "end_frame": 197, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 198, + "end_frame": 290, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 183, + "arm": "right", + "kind": "close", + "start_frame": 176, + "end_frame": 190 + }, + { + "frame": 205, + "arm": "left", + "kind": "open", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 283, + "arm": "right", + "kind": "open", + "start_frame": 276, + "end_frame": 290 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000345.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000345.json new file mode 100644 index 0000000000000000000000000000000000000000..55438936addd084c7bce6d6ac350bc374c21f162 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000345.json @@ -0,0 +1,84 @@ +{ + "episode_index": 345, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use your arms to shift the red block.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000346.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000346.json new file mode 100644 index 0000000000000000000000000000000000000000..61aa4878d542162d38e41e30aed5915e57972d45 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000346.json @@ -0,0 +1,84 @@ +{ + "episode_index": 346, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.", + "num_frames": 290, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 77, + "end_frame": 123, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 124, + "end_frame": 191, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 192, + "end_frame": 284, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 177, + "arm": "right", + "kind": "close", + "start_frame": 170, + "end_frame": 184 + }, + { + "frame": 199, + "arm": "left", + "kind": "open", + "start_frame": 192, + "end_frame": 206 + }, + { + "frame": 277, + "arm": "right", + "kind": "open", + "start_frame": 270, + "end_frame": 284 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000347.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000347.json new file mode 100644 index 0000000000000000000000000000000000000000..b40fc3e354fbac29300c2abb528f849378ff2f2c --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000347.json @@ -0,0 +1,84 @@ +{ + "episode_index": 347, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grip the red block with the left arm and transfer it.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000348.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000348.json new file mode 100644 index 0000000000000000000000000000000000000000..ac8c3d29b7d5860fce5312595d087f2d46e0fc4f --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000348.json @@ -0,0 +1,84 @@ +{ + "episode_index": 348, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000349.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000349.json new file mode 100644 index 0000000000000000000000000000000000000000..5151d75b9235de45304d123a215b8b46a3a87319 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000349.json @@ -0,0 +1,84 @@ +{ + "episode_index": 349, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000350.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000350.json new file mode 100644 index 0000000000000000000000000000000000000000..e01af57a896738ca2639dd123675262a94b2e56d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000350.json @@ -0,0 +1,84 @@ +{ + "episode_index": 350, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 116, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 117, + "end_frame": 184, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 185, + "end_frame": 277, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000351.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000351.json new file mode 100644 index 0000000000000000000000000000000000000000..c094fb4fcc605c3dda56ab11c99c6bb9461a865d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000351.json @@ -0,0 +1,84 @@ +{ + "episode_index": 351, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab red block, pass to the right arm, then drop on blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000352.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000352.json new file mode 100644 index 0000000000000000000000000000000000000000..e65077a8da381cc6d1708eb82a8a7a18155cad8c --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000352.json @@ -0,0 +1,84 @@ +{ + "episode_index": 352, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block, pass it to the right arm, then place it.", + "num_frames": 289, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 77, + "end_frame": 121, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 122, + "end_frame": 189, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 190, + "end_frame": 283, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 175, + "arm": "right", + "kind": "close", + "start_frame": 168, + "end_frame": 182 + }, + { + "frame": 197, + "arm": "left", + "kind": "open", + "start_frame": 190, + "end_frame": 204 + }, + { + "frame": 276, + "arm": "right", + "kind": "open", + "start_frame": 269, + "end_frame": 283 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000353.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000353.json new file mode 100644 index 0000000000000000000000000000000000000000..dc903e70727342a7abb82c6d4acd2743f87767b6 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000353.json @@ -0,0 +1,84 @@ +{ + "episode_index": 353, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.", + "num_frames": 287, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 120, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 121, + "end_frame": 188, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 189, + "end_frame": 281, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 174, + "arm": "right", + "kind": "close", + "start_frame": 167, + "end_frame": 181 + }, + { + "frame": 196, + "arm": "left", + "kind": "open", + "start_frame": 189, + "end_frame": 203 + }, + { + "frame": 274, + "arm": "right", + "kind": "open", + "start_frame": 267, + "end_frame": 281 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000354.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000354.json new file mode 100644 index 0000000000000000000000000000000000000000..431c8fa126d2aed0813e6e859bd6ad721d0fe112 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000354.json @@ -0,0 +1,84 @@ +{ + "episode_index": 354, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hand the red block to the right arm.", + "num_frames": 288, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 78, + "end_frame": 118, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 119, + "end_frame": 186, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 187, + "end_frame": 282, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 172, + "arm": "right", + "kind": "close", + "start_frame": 165, + "end_frame": 179 + }, + { + "frame": 194, + "arm": "left", + "kind": "open", + "start_frame": 187, + "end_frame": 201 + }, + { + "frame": 275, + "arm": "right", + "kind": "open", + "start_frame": 268, + "end_frame": 282 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000355.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000355.json new file mode 100644 index 0000000000000000000000000000000000000000..2001d1dcf20b0fc6c489beeb6164809dedcfa890 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000355.json @@ -0,0 +1,84 @@ +{ + "episode_index": 355, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block, hand it to the right arm, then set it down.", + "num_frames": 293, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 77, + "end_frame": 124, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 125, + "end_frame": 192, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 193, + "end_frame": 287, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 178, + "arm": "right", + "kind": "close", + "start_frame": 171, + "end_frame": 185 + }, + { + "frame": 200, + "arm": "left", + "kind": "open", + "start_frame": 193, + "end_frame": 207 + }, + { + "frame": 280, + "arm": "right", + "kind": "open", + "start_frame": 273, + "end_frame": 287 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000356.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000356.json new file mode 100644 index 0000000000000000000000000000000000000000..e99ce1fddaab1868d25a6b2ed6f4aaeafc61805f --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000356.json @@ -0,0 +1,84 @@ +{ + "episode_index": 356, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block using the left arm and hand it over.", + "num_frames": 303, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 79, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 80, + "end_frame": 137, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 205, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 206, + "end_frame": 297, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "left", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 191, + "arm": "right", + "kind": "close", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 213, + "arm": "left", + "kind": "open", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 290, + "arm": "right", + "kind": "open", + "start_frame": 283, + "end_frame": 297 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000357.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000357.json new file mode 100644 index 0000000000000000000000000000000000000000..8a7671d644f250ebf1a58912db8b057278198698 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000357.json @@ -0,0 +1,84 @@ +{ + "episode_index": 357, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block using the left arm and hand it over.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 111, + "end_frame": 178, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 179, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000358.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000358.json new file mode 100644 index 0000000000000000000000000000000000000000..1590fc9e542b7be43f6687665b570686d4200926 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000358.json @@ -0,0 +1,84 @@ +{ + "episode_index": 358, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use your arms to shift the red block.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 276, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000359.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000359.json new file mode 100644 index 0000000000000000000000000000000000000000..fcfcf15c2a8a9ddbf01f0338dec9ea9fbba43893 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000359.json @@ -0,0 +1,84 @@ +{ + "episode_index": 359, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000360.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000360.json new file mode 100644 index 0000000000000000000000000000000000000000..202852a527624424d53b5b8233267e3dda912203 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000360.json @@ -0,0 +1,84 @@ +{ + "episode_index": 360, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 291, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 122, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 123, + "end_frame": 190, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 191, + "end_frame": 285, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 176, + "arm": "right", + "kind": "close", + "start_frame": 169, + "end_frame": 183 + }, + { + "frame": 198, + "arm": "left", + "kind": "open", + "start_frame": 191, + "end_frame": 205 + }, + { + "frame": 278, + "arm": "right", + "kind": "open", + "start_frame": 271, + "end_frame": 285 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000361.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000361.json new file mode 100644 index 0000000000000000000000000000000000000000..09fc8fd6650607e7b05b403bd041a85c9a87b542 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000361.json @@ -0,0 +1,84 @@ +{ + "episode_index": 361, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000362.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000362.json new file mode 100644 index 0000000000000000000000000000000000000000..05f6a5be9aa618152c703185cefb3d300e8ab321 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000362.json @@ -0,0 +1,84 @@ +{ + "episode_index": 362, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 297, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 80, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 81, + "end_frame": 128, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 129, + "end_frame": 196, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 197, + "end_frame": 291, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 65, + "arm": "left", + "kind": "close", + "start_frame": 58, + "end_frame": 72 + }, + { + "frame": 182, + "arm": "right", + "kind": "close", + "start_frame": 175, + "end_frame": 189 + }, + { + "frame": 204, + "arm": "left", + "kind": "open", + "start_frame": 197, + "end_frame": 211 + }, + { + "frame": 284, + "arm": "right", + "kind": "open", + "start_frame": 277, + "end_frame": 291 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000363.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000363.json new file mode 100644 index 0000000000000000000000000000000000000000..4fc90520f05663662aeab90bd001b0b49c854c44 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000363.json @@ -0,0 +1,84 @@ +{ + "episode_index": 363, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block, hand it to the right arm, then set it down.", + "num_frames": 290, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 78, + "end_frame": 124, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 125, + "end_frame": 191, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 192, + "end_frame": 284, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 177, + "arm": "right", + "kind": "close", + "start_frame": 170, + "end_frame": 184 + }, + { + "frame": 199, + "arm": "left", + "kind": "open", + "start_frame": 192, + "end_frame": 206 + }, + { + "frame": 277, + "arm": "right", + "kind": "open", + "start_frame": 270, + "end_frame": 284 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000364.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000364.json new file mode 100644 index 0000000000000000000000000000000000000000..330b4422be30ebef76033ee783c07152f9826c48 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000364.json @@ -0,0 +1,84 @@ +{ + "episode_index": 364, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "The left arm should grab the red block, hand it to the right, and put it on the blue pad.", + "num_frames": 287, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 120, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 121, + "end_frame": 188, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 189, + "end_frame": 281, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 174, + "arm": "right", + "kind": "close", + "start_frame": 167, + "end_frame": 181 + }, + { + "frame": 196, + "arm": "left", + "kind": "open", + "start_frame": 189, + "end_frame": 203 + }, + { + "frame": 274, + "arm": "right", + "kind": "open", + "start_frame": 267, + "end_frame": 281 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000365.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000365.json new file mode 100644 index 0000000000000000000000000000000000000000..98e658c0ab8a65a9d95e5982e05873795b60fb71 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000365.json @@ -0,0 +1,84 @@ +{ + "episode_index": 365, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Move the red block from the left hand to the pad.", + "num_frames": 306, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 81, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 82, + "end_frame": 139, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 207, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 208, + "end_frame": 300, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 66, + "arm": "left", + "kind": "close", + "start_frame": 59, + "end_frame": 73 + }, + { + "frame": 193, + "arm": "right", + "kind": "close", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 215, + "arm": "left", + "kind": "open", + "start_frame": 208, + "end_frame": 222 + }, + { + "frame": 293, + "arm": "right", + "kind": "open", + "start_frame": 286, + "end_frame": 300 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000366.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000366.json new file mode 100644 index 0000000000000000000000000000000000000000..376ceb5e7fb04e575f6e0fc4cb3d83af346b8531 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000366.json @@ -0,0 +1,84 @@ +{ + "episode_index": 366, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.", + "num_frames": 284, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 116, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 117, + "end_frame": 184, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 185, + "end_frame": 278, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 271, + "arm": "right", + "kind": "open", + "start_frame": 264, + "end_frame": 278 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000367.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000367.json new file mode 100644 index 0000000000000000000000000000000000000000..e9805ba118aefc5122ffb9f22e2a1c999c86183f --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000367.json @@ -0,0 +1,84 @@ +{ + "episode_index": 367, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with your left arm.", + "num_frames": 286, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 117, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 118, + "end_frame": 185, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 186, + "end_frame": 280, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 171, + "arm": "right", + "kind": "close", + "start_frame": 164, + "end_frame": 178 + }, + { + "frame": 193, + "arm": "left", + "kind": "open", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 273, + "arm": "right", + "kind": "open", + "start_frame": 266, + "end_frame": 280 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000368.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000368.json new file mode 100644 index 0000000000000000000000000000000000000000..2366d6477aa59323c256f2e80debf82c3da42944 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000368.json @@ -0,0 +1,84 @@ +{ + "episode_index": 368, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up and handover the red block.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 115, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 116, + "end_frame": 183, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 184, + "end_frame": 277, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000369.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000369.json new file mode 100644 index 0000000000000000000000000000000000000000..a460d6836aa0e5e303408286968ef40802908ea5 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000369.json @@ -0,0 +1,84 @@ +{ + "episode_index": 369, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000370.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000370.json new file mode 100644 index 0000000000000000000000000000000000000000..1fa3fe199ab1cd832cc60bd00ece5611f4de1a5b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000370.json @@ -0,0 +1,84 @@ +{ + "episode_index": 370, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.", + "num_frames": 290, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 118, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 119, + "end_frame": 186, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 187, + "end_frame": 284, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 172, + "arm": "right", + "kind": "close", + "start_frame": 165, + "end_frame": 179 + }, + { + "frame": 194, + "arm": "left", + "kind": "open", + "start_frame": 187, + "end_frame": 201 + }, + { + "frame": 277, + "arm": "right", + "kind": "open", + "start_frame": 270, + "end_frame": 284 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000371.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000371.json new file mode 100644 index 0000000000000000000000000000000000000000..8c8edeed7c1fc03b4e5489add4314b3d0aa29ee6 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000371.json @@ -0,0 +1,84 @@ +{ + "episode_index": 371, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block using the left arm and hand it over.", + "num_frames": 288, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 77, + "end_frame": 120, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 121, + "end_frame": 188, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 189, + "end_frame": 282, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 174, + "arm": "right", + "kind": "close", + "start_frame": 167, + "end_frame": 181 + }, + { + "frame": 196, + "arm": "left", + "kind": "open", + "start_frame": 189, + "end_frame": 203 + }, + { + "frame": 275, + "arm": "right", + "kind": "open", + "start_frame": 268, + "end_frame": 282 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000372.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000372.json new file mode 100644 index 0000000000000000000000000000000000000000..a6ed1be8124800c505d42005508545d2d755e347 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000372.json @@ -0,0 +1,84 @@ +{ + "episode_index": 372, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000373.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000373.json new file mode 100644 index 0000000000000000000000000000000000000000..8881a5036818cb9173df9090fc1d9f58b692c9aa --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000373.json @@ -0,0 +1,84 @@ +{ + "episode_index": 373, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.", + "num_frames": 288, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 79, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 80, + "end_frame": 122, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 123, + "end_frame": 190, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 191, + "end_frame": 282, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "left", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 176, + "arm": "right", + "kind": "close", + "start_frame": 169, + "end_frame": 183 + }, + { + "frame": 198, + "arm": "left", + "kind": "open", + "start_frame": 191, + "end_frame": 205 + }, + { + "frame": 275, + "arm": "right", + "kind": "open", + "start_frame": 268, + "end_frame": 282 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000374.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000374.json new file mode 100644 index 0000000000000000000000000000000000000000..5e39e46304bcf261c061df1f0083f03e20d91fec --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000374.json @@ -0,0 +1,84 @@ +{ + "episode_index": 374, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000375.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000375.json new file mode 100644 index 0000000000000000000000000000000000000000..ffd174ca406c92affef8e2d5dbcbad09f6e48584 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000375.json @@ -0,0 +1,84 @@ +{ + "episode_index": 375, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "The left arm should grab the red block, hand it to the right, and put it on the blue pad.", + "num_frames": 288, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 118, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 119, + "end_frame": 186, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 187, + "end_frame": 282, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 172, + "arm": "right", + "kind": "close", + "start_frame": 165, + "end_frame": 179 + }, + { + "frame": 194, + "arm": "left", + "kind": "open", + "start_frame": 187, + "end_frame": 201 + }, + { + "frame": 275, + "arm": "right", + "kind": "open", + "start_frame": 268, + "end_frame": 282 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000376.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000376.json new file mode 100644 index 0000000000000000000000000000000000000000..6d4e373ec04aede6a52519e3b0e087f27517d564 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000376.json @@ -0,0 +1,84 @@ +{ + "episode_index": 376, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block, pass it to the right arm, then place it.", + "num_frames": 285, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 116, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 117, + "end_frame": 184, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 185, + "end_frame": 279, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 272, + "arm": "right", + "kind": "open", + "start_frame": 265, + "end_frame": 279 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000377.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000377.json new file mode 100644 index 0000000000000000000000000000000000000000..7be96b63dd62bddf6e86ea45e96d90cc203126e5 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000377.json @@ -0,0 +1,84 @@ +{ + "episode_index": 377, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 277, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000378.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000378.json new file mode 100644 index 0000000000000000000000000000000000000000..c779afc0c9819108a3f192598d4218be09b84ec5 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000378.json @@ -0,0 +1,84 @@ +{ + "episode_index": 378, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 116, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 117, + "end_frame": 184, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 185, + "end_frame": 277, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000379.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000379.json new file mode 100644 index 0000000000000000000000000000000000000000..2722f642179f848527b9f06be3ba2ff3f0506fa9 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000379.json @@ -0,0 +1,84 @@ +{ + "episode_index": 379, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift, switch arms, and place the red block.", + "num_frames": 285, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 117, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 118, + "end_frame": 185, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 186, + "end_frame": 279, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 171, + "arm": "right", + "kind": "close", + "start_frame": 164, + "end_frame": 178 + }, + { + "frame": 193, + "arm": "left", + "kind": "open", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 272, + "arm": "right", + "kind": "open", + "start_frame": 265, + "end_frame": 279 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000380.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000380.json new file mode 100644 index 0000000000000000000000000000000000000000..eef61f879af10148907364b82f277f3a92edf1f2 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000380.json @@ -0,0 +1,84 @@ +{ + "episode_index": 380, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grip the red block with the left arm and transfer it.", + "num_frames": 285, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 77, + "end_frame": 116, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 117, + "end_frame": 184, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 185, + "end_frame": 279, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 272, + "arm": "right", + "kind": "open", + "start_frame": 265, + "end_frame": 279 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000381.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000381.json new file mode 100644 index 0000000000000000000000000000000000000000..8eab78d2933e28f869ccee51719940d767a18cea --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000381.json @@ -0,0 +1,84 @@ +{ + "episode_index": 381, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block, hand it to the right arm, then set it down.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000382.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000382.json new file mode 100644 index 0000000000000000000000000000000000000000..7e1014a847924ff054e0a18602ab8c8fcd3af1ac --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000382.json @@ -0,0 +1,84 @@ +{ + "episode_index": 382, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Place the red block onto the blue pad using the right arm.", + "num_frames": 288, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 121, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 122, + "end_frame": 189, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 190, + "end_frame": 282, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 175, + "arm": "right", + "kind": "close", + "start_frame": 168, + "end_frame": 182 + }, + { + "frame": 197, + "arm": "left", + "kind": "open", + "start_frame": 190, + "end_frame": 204 + }, + { + "frame": 275, + "arm": "right", + "kind": "open", + "start_frame": 268, + "end_frame": 282 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000383.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000383.json new file mode 100644 index 0000000000000000000000000000000000000000..586cbac645c23b50b9b49b20206a91c35ba3b53f --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000383.json @@ -0,0 +1,84 @@ +{ + "episode_index": 383, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block and transfer to the right.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000384.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000384.json new file mode 100644 index 0000000000000000000000000000000000000000..8fd62eb53077130a3101ec2ac5f8f5d43f19df60 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000384.json @@ -0,0 +1,84 @@ +{ + "episode_index": 384, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the block with the left arm, pass it to the right arm.", + "num_frames": 285, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 78, + "end_frame": 118, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 119, + "end_frame": 186, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 187, + "end_frame": 279, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 172, + "arm": "right", + "kind": "close", + "start_frame": 165, + "end_frame": 179 + }, + { + "frame": 194, + "arm": "left", + "kind": "open", + "start_frame": 187, + "end_frame": 201 + }, + { + "frame": 272, + "arm": "right", + "kind": "open", + "start_frame": 265, + "end_frame": 279 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000385.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000385.json new file mode 100644 index 0000000000000000000000000000000000000000..0bab8fe67ce228e10a89ed29a7eddec49727409b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000385.json @@ -0,0 +1,84 @@ +{ + "episode_index": 385, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block with the left arm and transfer to the right.", + "num_frames": 290, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 78, + "end_frame": 123, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 124, + "end_frame": 191, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 192, + "end_frame": 284, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 177, + "arm": "right", + "kind": "close", + "start_frame": 170, + "end_frame": 184 + }, + { + "frame": 199, + "arm": "left", + "kind": "open", + "start_frame": 192, + "end_frame": 206 + }, + { + "frame": 277, + "arm": "right", + "kind": "open", + "start_frame": 270, + "end_frame": 284 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000386.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000386.json new file mode 100644 index 0000000000000000000000000000000000000000..6add58670dfd7114421127c8207d7d13f112cca1 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000386.json @@ -0,0 +1,84 @@ +{ + "episode_index": 386, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use left arm to grab the block and hand it to the right.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000387.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000387.json new file mode 100644 index 0000000000000000000000000000000000000000..45829fb4f9e32051485023389e93e73d039d0e8b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000387.json @@ -0,0 +1,84 @@ +{ + "episode_index": 387, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hand the red block to the right arm.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000388.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000388.json new file mode 100644 index 0000000000000000000000000000000000000000..a1eaa7e84aad88437a45d6d5c04a7e7258c93036 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000388.json @@ -0,0 +1,84 @@ +{ + "episode_index": 388, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.", + "num_frames": 299, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 80, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 81, + "end_frame": 129, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 130, + "end_frame": 196, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 197, + "end_frame": 293, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 65, + "arm": "left", + "kind": "close", + "start_frame": 58, + "end_frame": 72 + }, + { + "frame": 182, + "arm": "right", + "kind": "close", + "start_frame": 175, + "end_frame": 189 + }, + { + "frame": 204, + "arm": "left", + "kind": "open", + "start_frame": 197, + "end_frame": 211 + }, + { + "frame": 286, + "arm": "right", + "kind": "open", + "start_frame": 279, + "end_frame": 293 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000389.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000389.json new file mode 100644 index 0000000000000000000000000000000000000000..78b26cc9c26d087d9b280ef13a9a1e60343471b1 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000389.json @@ -0,0 +1,84 @@ +{ + "episode_index": 389, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hold the red block with the left arm and place it on the pad.", + "num_frames": 289, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 121, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 122, + "end_frame": 189, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 190, + "end_frame": 283, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 175, + "arm": "right", + "kind": "close", + "start_frame": 168, + "end_frame": 182 + }, + { + "frame": 197, + "arm": "left", + "kind": "open", + "start_frame": 190, + "end_frame": 204 + }, + { + "frame": 276, + "arm": "right", + "kind": "open", + "start_frame": 269, + "end_frame": 283 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000390.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000390.json new file mode 100644 index 0000000000000000000000000000000000000000..6d6f186d58c4c43861e352152e71efcd3b291207 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000390.json @@ -0,0 +1,84 @@ +{ + "episode_index": 390, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.", + "num_frames": 292, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 77, + "end_frame": 125, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 126, + "end_frame": 193, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 194, + "end_frame": 286, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 179, + "arm": "right", + "kind": "close", + "start_frame": 172, + "end_frame": 186 + }, + { + "frame": 201, + "arm": "left", + "kind": "open", + "start_frame": 194, + "end_frame": 208 + }, + { + "frame": 279, + "arm": "right", + "kind": "open", + "start_frame": 272, + "end_frame": 286 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000391.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000391.json new file mode 100644 index 0000000000000000000000000000000000000000..37228f87f56a551326c3f3e470b3dd9509739f91 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000391.json @@ -0,0 +1,84 @@ +{ + "episode_index": 391, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000392.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000392.json new file mode 100644 index 0000000000000000000000000000000000000000..b131fdb9ac6c88ccbfaddb6d9c60870b663e016d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000392.json @@ -0,0 +1,84 @@ +{ + "episode_index": 392, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block, pass it to the right arm, and drop it.", + "num_frames": 292, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 79, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 80, + "end_frame": 124, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 125, + "end_frame": 192, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 193, + "end_frame": 286, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "left", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 178, + "arm": "right", + "kind": "close", + "start_frame": 171, + "end_frame": 185 + }, + { + "frame": 200, + "arm": "left", + "kind": "open", + "start_frame": 193, + "end_frame": 207 + }, + { + "frame": 279, + "arm": "right", + "kind": "open", + "start_frame": 272, + "end_frame": 286 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000393.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000393.json new file mode 100644 index 0000000000000000000000000000000000000000..a019e0b0eb6f71a2d3132d25f6f09a26f8d66530 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000393.json @@ -0,0 +1,84 @@ +{ + "episode_index": 393, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.", + "num_frames": 310, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 85, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 86, + "end_frame": 134, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 135, + "end_frame": 202, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 203, + "end_frame": 304, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 68, + "arm": "left", + "kind": "close", + "start_frame": 61, + "end_frame": 75 + }, + { + "frame": 188, + "arm": "right", + "kind": "close", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 210, + "arm": "left", + "kind": "open", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 297, + "arm": "right", + "kind": "open", + "start_frame": 290, + "end_frame": 304 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000394.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000394.json new file mode 100644 index 0000000000000000000000000000000000000000..ef02ef163cbb49b5ea479118c0b99ae7380c09a1 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000394.json @@ -0,0 +1,84 @@ +{ + "episode_index": 394, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000395.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000395.json new file mode 100644 index 0000000000000000000000000000000000000000..e19815311ca9ecb3c430a69b695701e36572d9f8 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000395.json @@ -0,0 +1,84 @@ +{ + "episode_index": 395, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block and transfer to the right.", + "num_frames": 298, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 79, + "end_frame": 132, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 133, + "end_frame": 200, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 201, + "end_frame": 292, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 186, + "arm": "right", + "kind": "close", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 208, + "arm": "left", + "kind": "open", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 285, + "arm": "right", + "kind": "open", + "start_frame": 278, + "end_frame": 292 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000396.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000396.json new file mode 100644 index 0000000000000000000000000000000000000000..d3bf7f8292aaed9e6888e768a43e358a6d8e7ce3 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000396.json @@ -0,0 +1,84 @@ +{ + "episode_index": 396, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block, hand it over, and place it properly.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 110, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 111, + "end_frame": 178, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 179, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000397.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000397.json new file mode 100644 index 0000000000000000000000000000000000000000..8d42aaefc243bbdeae4d13a1dfbd62ae45fb560a --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000397.json @@ -0,0 +1,84 @@ +{ + "episode_index": 397, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000398.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000398.json new file mode 100644 index 0000000000000000000000000000000000000000..74388b46f0bd00df1c35bd78676f6afe4247cc9a --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000398.json @@ -0,0 +1,84 @@ +{ + "episode_index": 398, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 277, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000399.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000399.json new file mode 100644 index 0000000000000000000000000000000000000000..6cee7a889c58f5fb01fc630e993e15a3148a75e1 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000399.json @@ -0,0 +1,84 @@ +{ + "episode_index": 399, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift, switch arms, and place the red block.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000400.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000400.json new file mode 100644 index 0000000000000000000000000000000000000000..795660fad7e513d6c35705be3a67a87311579613 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000400.json @@ -0,0 +1,84 @@ +{ + "episode_index": 400, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.", + "num_frames": 293, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 79, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 80, + "end_frame": 124, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 125, + "end_frame": 192, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 193, + "end_frame": 287, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "left", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 178, + "arm": "right", + "kind": "close", + "start_frame": 171, + "end_frame": 185 + }, + { + "frame": 200, + "arm": "left", + "kind": "open", + "start_frame": 193, + "end_frame": 207 + }, + { + "frame": 280, + "arm": "right", + "kind": "open", + "start_frame": 273, + "end_frame": 287 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000401.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000401.json new file mode 100644 index 0000000000000000000000000000000000000000..11b69d0750b2fe670fedd4c0242b569e38b8b236 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000401.json @@ -0,0 +1,84 @@ +{ + "episode_index": 401, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block, hand it to the right arm, then set it down.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000402.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000402.json new file mode 100644 index 0000000000000000000000000000000000000000..46e2b59609f8d4d14b698f6e202b7414d73565f1 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000402.json @@ -0,0 +1,84 @@ +{ + "episode_index": 402, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000403.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000403.json new file mode 100644 index 0000000000000000000000000000000000000000..57b1aefcf426e99e2e51482d43abc7f0b505ba4a --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000403.json @@ -0,0 +1,84 @@ +{ + "episode_index": 403, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.", + "num_frames": 318, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 88, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 89, + "end_frame": 138, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 206, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 207, + "end_frame": 312, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 70, + "arm": "left", + "kind": "close", + "start_frame": 63, + "end_frame": 77 + }, + { + "frame": 192, + "arm": "right", + "kind": "close", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 214, + "arm": "left", + "kind": "open", + "start_frame": 207, + "end_frame": 221 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000404.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000404.json new file mode 100644 index 0000000000000000000000000000000000000000..83ece7bd8eb4c7b41233e2ce35fe5e493b810fff --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000404.json @@ -0,0 +1,84 @@ +{ + "episode_index": 404, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up and handover the red block.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000405.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000405.json new file mode 100644 index 0000000000000000000000000000000000000000..29db177e5adfcd0dd30cb1e42cf1bea9635b5c6b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000405.json @@ -0,0 +1,84 @@ +{ + "episode_index": 405, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000406.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000406.json new file mode 100644 index 0000000000000000000000000000000000000000..618f0792dc639645475d54041567110f34c9f4b8 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000406.json @@ -0,0 +1,84 @@ +{ + "episode_index": 406, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.", + "num_frames": 291, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 79, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 80, + "end_frame": 123, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 124, + "end_frame": 191, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 192, + "end_frame": 285, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "left", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 177, + "arm": "right", + "kind": "close", + "start_frame": 170, + "end_frame": 184 + }, + { + "frame": 199, + "arm": "left", + "kind": "open", + "start_frame": 192, + "end_frame": 206 + }, + { + "frame": 278, + "arm": "right", + "kind": "open", + "start_frame": 271, + "end_frame": 285 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000407.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000407.json new file mode 100644 index 0000000000000000000000000000000000000000..6a2d738e059fd6c116da3721315caaa27fde6768 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000407.json @@ -0,0 +1,84 @@ +{ + "episode_index": 407, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use left arm to grab the red block and place it on the pad.", + "num_frames": 290, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 79, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 80, + "end_frame": 122, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 123, + "end_frame": 190, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 191, + "end_frame": 284, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "left", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 176, + "arm": "right", + "kind": "close", + "start_frame": 169, + "end_frame": 183 + }, + { + "frame": 198, + "arm": "left", + "kind": "open", + "start_frame": 191, + "end_frame": 205 + }, + { + "frame": 277, + "arm": "right", + "kind": "open", + "start_frame": 270, + "end_frame": 284 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000408.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000408.json new file mode 100644 index 0000000000000000000000000000000000000000..deac6b2744eaba8f9c7448550f40a02dd17c823e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000408.json @@ -0,0 +1,84 @@ +{ + "episode_index": 408, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.", + "num_frames": 289, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 119, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 120, + "end_frame": 187, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 188, + "end_frame": 283, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 173, + "arm": "right", + "kind": "close", + "start_frame": 166, + "end_frame": 180 + }, + { + "frame": 195, + "arm": "left", + "kind": "open", + "start_frame": 188, + "end_frame": 202 + }, + { + "frame": 276, + "arm": "right", + "kind": "open", + "start_frame": 269, + "end_frame": 283 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000409.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000409.json new file mode 100644 index 0000000000000000000000000000000000000000..59db9afc6ac9e481b334e3e826bcdde89a3f483e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000409.json @@ -0,0 +1,84 @@ +{ + "episode_index": 409, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block, pass it to the right arm, then place it.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000410.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000410.json new file mode 100644 index 0000000000000000000000000000000000000000..dc0e4386b1d546bbb3d8da3fe454289db0827617 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000410.json @@ -0,0 +1,84 @@ +{ + "episode_index": 410, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000411.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000411.json new file mode 100644 index 0000000000000000000000000000000000000000..57a55c466395f50a62c6c398f7c3829d90b636d1 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000411.json @@ -0,0 +1,84 @@ +{ + "episode_index": 411, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Set the red block on the blue pad gently.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000412.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000412.json new file mode 100644 index 0000000000000000000000000000000000000000..6f8964a4a3710d858f72826f942db03fcc97568e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000412.json @@ -0,0 +1,84 @@ +{ + "episode_index": 412, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Move the red block from the left hand to the pad.", + "num_frames": 293, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 78, + "end_frame": 126, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 127, + "end_frame": 194, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 195, + "end_frame": 287, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 180, + "arm": "right", + "kind": "close", + "start_frame": 173, + "end_frame": 187 + }, + { + "frame": 202, + "arm": "left", + "kind": "open", + "start_frame": 195, + "end_frame": 209 + }, + { + "frame": 280, + "arm": "right", + "kind": "open", + "start_frame": 273, + "end_frame": 287 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000413.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000413.json new file mode 100644 index 0000000000000000000000000000000000000000..81179911562199b726db0722675488e07775669c --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000413.json @@ -0,0 +1,84 @@ +{ + "episode_index": 413, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Place the red block onto the blue pad using the right arm.", + "num_frames": 284, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 115, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 116, + "end_frame": 183, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 184, + "end_frame": 278, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 271, + "arm": "right", + "kind": "open", + "start_frame": 264, + "end_frame": 278 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000414.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000414.json new file mode 100644 index 0000000000000000000000000000000000000000..3d7f77f22c1015ccf25af8a161aaa24ff88bbe4f --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000414.json @@ -0,0 +1,84 @@ +{ + "episode_index": 414, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up and handover the red block.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000415.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000415.json new file mode 100644 index 0000000000000000000000000000000000000000..0bf0b4f339094e1ac6637c0389ffbff4be945c6c --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000415.json @@ -0,0 +1,84 @@ +{ + "episode_index": 415, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hold the red block, transfer to the right arm, then set it down.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 117, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 118, + "end_frame": 184, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 185, + "end_frame": 277, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000416.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000416.json new file mode 100644 index 0000000000000000000000000000000000000000..177eeaed57ca17292713bd9291d9f99d554b75ae --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000416.json @@ -0,0 +1,84 @@ +{ + "episode_index": 416, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 115, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 116, + "end_frame": 183, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 184, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000417.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000417.json new file mode 100644 index 0000000000000000000000000000000000000000..23e5271ee65a0e11226f9c06a9c5af9b93cb24b2 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000417.json @@ -0,0 +1,84 @@ +{ + "episode_index": 417, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab red block, pass to the right arm, then drop on blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", 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"close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000418.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000418.json new file mode 100644 index 0000000000000000000000000000000000000000..adfae13e62d25619a1e7ef57e9127eeaf580e578 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000418.json @@ -0,0 +1,84 @@ +{ + "episode_index": 418, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000419.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000419.json new file mode 100644 index 0000000000000000000000000000000000000000..b12f0ec4d666567b32d8b43dc974d4184ea233aa --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000419.json @@ -0,0 +1,84 @@ +{ + "episode_index": 419, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": 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"alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000420.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000420.json new file mode 100644 index 0000000000000000000000000000000000000000..b403aad9fa0eb7780a3ebb6fae78205dde2592e9 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000420.json @@ -0,0 +1,84 @@ +{ + "episode_index": 420, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.", + "num_frames": 285, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 117, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 118, + "end_frame": 186, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 187, + "end_frame": 279, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 172, + "arm": "right", + "kind": "close", + "start_frame": 165, + "end_frame": 179 + }, + { + "frame": 194, + "arm": "left", + "kind": "open", + "start_frame": 187, + "end_frame": 201 + }, + { + "frame": 272, + "arm": "right", + "kind": "open", + "start_frame": 265, + "end_frame": 279 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000421.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000421.json new file mode 100644 index 0000000000000000000000000000000000000000..6ff7884eed12f2aef990bde48e2c1ebdd09e137d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000421.json @@ -0,0 +1,84 @@ +{ + "episode_index": 421, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block with the left hand and pass it.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 270, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000422.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000422.json new file mode 100644 index 0000000000000000000000000000000000000000..9b77265f62a9c559f6b8bbdd076e9125ec25d54e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000422.json @@ -0,0 +1,84 @@ +{ + "episode_index": 422, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block, pass it to the right arm, and drop it.", + "num_frames": 303, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 79, + "end_frame": 137, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 205, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 206, + "end_frame": 297, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 191, + "arm": "right", + "kind": "close", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 213, + "arm": "left", + "kind": "open", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 290, + "arm": "right", + "kind": "open", + "start_frame": 283, + "end_frame": 297 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000423.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000423.json new file mode 100644 index 0000000000000000000000000000000000000000..ace355bd9536d4c9b002579cba41f6e842221b93 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000423.json @@ -0,0 +1,84 @@ +{ + "episode_index": 423, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000424.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000424.json new file mode 100644 index 0000000000000000000000000000000000000000..5fc7cc01a5b00da57ec0be743bfeb0f423ccf8b4 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000424.json @@ -0,0 +1,84 @@ +{ + "episode_index": 424, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab red block, pass to the right arm, then drop on blue pad.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 116, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 117, + "end_frame": 183, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 184, + "end_frame": 277, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000425.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000425.json new file mode 100644 index 0000000000000000000000000000000000000000..70a16d74b67bc2c8caa05b5f377a53e199b2b445 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000425.json @@ -0,0 +1,84 @@ +{ + "episode_index": 425, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.", + "num_frames": 284, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 115, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 116, + "end_frame": 183, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 184, + "end_frame": 278, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 271, + "arm": "right", + "kind": "open", + "start_frame": 264, + "end_frame": 278 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000426.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000426.json new file mode 100644 index 0000000000000000000000000000000000000000..a785bba5530f99e65b7924de1940d22aa627649b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000426.json @@ -0,0 +1,84 @@ +{ + "episode_index": 426, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block, hand it to the right arm, then set it down.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000427.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000427.json new file mode 100644 index 0000000000000000000000000000000000000000..6fd1352ee6a851f230124de28b9d251e3684911a --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000427.json @@ -0,0 +1,84 @@ +{ + "episode_index": 427, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000428.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000428.json new file mode 100644 index 0000000000000000000000000000000000000000..398f2f140b1de5bb0b389a8aed8b9211f8b42896 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000428.json @@ -0,0 +1,84 @@ +{ + "episode_index": 428, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with your left arm.", + "num_frames": 285, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 119, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 120, + "end_frame": 187, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 188, + "end_frame": 279, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 173, + "arm": "right", + "kind": "close", + "start_frame": 166, + "end_frame": 180 + }, + { + "frame": 195, + "arm": "left", + "kind": "open", + "start_frame": 188, + "end_frame": 202 + }, + { + "frame": 272, + "arm": "right", + "kind": "open", + "start_frame": 265, + "end_frame": 279 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000429.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000429.json new file mode 100644 index 0000000000000000000000000000000000000000..575f2afdc3cc25f8392e595609b566c0222dd1c5 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000429.json @@ -0,0 +1,84 @@ +{ + "episode_index": 429, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.", + "num_frames": 313, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 84, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 85, + "end_frame": 137, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 205, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 206, + "end_frame": 307, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 66, + "arm": "left", + "kind": "close", + "start_frame": 59, + "end_frame": 73 + }, + { + "frame": 191, + "arm": "right", + "kind": "close", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 213, + "arm": "left", + "kind": "open", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 300, + "arm": "right", + "kind": "open", + "start_frame": 293, + "end_frame": 307 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000430.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000430.json new file mode 100644 index 0000000000000000000000000000000000000000..2f07a007a5e4bed5be7ae82d95fb4c38f788ea78 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000430.json @@ -0,0 +1,84 @@ +{ + "episode_index": 430, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with your left arm.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 110, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 111, + "end_frame": 177, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 178, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 163, + "arm": "right", + "kind": "close", + "start_frame": 156, + "end_frame": 170 + }, + { + "frame": 185, + "arm": "left", + "kind": "open", + "start_frame": 178, + "end_frame": 192 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000431.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000431.json new file mode 100644 index 0000000000000000000000000000000000000000..5541db779ad04af0076f19714d0bff3ba8039c2e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000431.json @@ -0,0 +1,84 @@ +{ + "episode_index": 431, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000432.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000432.json new file mode 100644 index 0000000000000000000000000000000000000000..32776e2c8fe0490f6c89c03e33b1517261379d5d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000432.json @@ -0,0 +1,84 @@ +{ + "episode_index": 432, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pass the red block from the left to the right.", + "num_frames": 286, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 78, + "end_frame": 118, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 119, + "end_frame": 186, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 187, + "end_frame": 280, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 172, + "arm": "right", + "kind": "close", + "start_frame": 165, + "end_frame": 179 + }, + { + "frame": 194, + "arm": "left", + "kind": "open", + "start_frame": 187, + "end_frame": 201 + }, + { + "frame": 273, + "arm": "right", + "kind": "open", + "start_frame": 266, + "end_frame": 280 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000433.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000433.json new file mode 100644 index 0000000000000000000000000000000000000000..b921589170460852b7d626762893ed35f2851abf --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000433.json @@ -0,0 +1,84 @@ +{ + "episode_index": 433, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", 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"frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 163, + "arm": "right", + "kind": "close", + "start_frame": 156, + "end_frame": 170 + }, + { + "frame": 185, + "arm": "left", + "kind": "open", + "start_frame": 178, + "end_frame": 192 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000434.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000434.json new file mode 100644 index 0000000000000000000000000000000000000000..70a10a1060bfc7995dbbb84b6db178bf93c689d3 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000434.json @@ -0,0 +1,84 @@ +{ + "episode_index": 434, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.", + "num_frames": 294, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 79, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 80, + "end_frame": 124, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 125, + "end_frame": 192, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 193, + "end_frame": 288, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "left", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 178, + "arm": "right", + "kind": "close", + "start_frame": 171, + "end_frame": 185 + }, + { + "frame": 200, + "arm": "left", + "kind": "open", + "start_frame": 193, + "end_frame": 207 + }, + { + "frame": 281, + "arm": "right", + "kind": "open", + "start_frame": 274, + "end_frame": 288 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000435.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000435.json new file mode 100644 index 0000000000000000000000000000000000000000..9b681be1034840b360c9cd1e7358c2596f87e71b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000435.json @@ -0,0 +1,84 @@ +{ + "episode_index": 435, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 90, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 91, + "end_frame": 155, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 156, + "end_frame": 223, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 224, + "end_frame": 327, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 73, + "arm": "left", + "kind": "close", + "start_frame": 66, + "end_frame": 80 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 231, + "arm": "left", + "kind": "open", + "start_frame": 224, + "end_frame": 238 + }, + { + "frame": 320, + "arm": "right", + "kind": "open", + "start_frame": 313, + "end_frame": 327 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000436.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000436.json new file mode 100644 index 0000000000000000000000000000000000000000..4fd03c2be41450c6385da83c71822208e7d4a670 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000436.json @@ -0,0 +1,84 @@ +{ + "episode_index": 436, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000437.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000437.json new file mode 100644 index 0000000000000000000000000000000000000000..02e469fe321e53aee40fed21202e3574a148b37c --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000437.json @@ -0,0 +1,84 @@ +{ + "episode_index": 437, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift, switch arms, and place the red block.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 276, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000438.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000438.json new file mode 100644 index 0000000000000000000000000000000000000000..1860d462760f055d1551c5c7f409752644199ffa --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000438.json @@ -0,0 +1,84 @@ +{ + "episode_index": 438, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.", + "num_frames": 315, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 81, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 82, + "end_frame": 145, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 146, + "end_frame": 213, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 214, + "end_frame": 309, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "left", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 199, + "arm": "right", + "kind": "close", + "start_frame": 192, + "end_frame": 206 + }, + { + "frame": 221, + "arm": "left", + "kind": "open", + "start_frame": 214, + "end_frame": 228 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000439.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000439.json new file mode 100644 index 0000000000000000000000000000000000000000..6b0ff8b0d195718b3ab0ad3a702a98853fc02bc8 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000439.json @@ -0,0 +1,84 @@ +{ + "episode_index": 439, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use left arm to grab the red block and place it on the pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000440.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000440.json new file mode 100644 index 0000000000000000000000000000000000000000..8702167ac533bc94904c16b70e1f22c9acec4b74 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000440.json @@ -0,0 +1,84 @@ +{ + "episode_index": 440, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000441.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000441.json new file mode 100644 index 0000000000000000000000000000000000000000..fc22cbe681b37a419c8c21ff881dd86fc506efec --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000441.json @@ -0,0 +1,84 @@ +{ + "episode_index": 441, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.", + "num_frames": 290, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 79, + "end_frame": 124, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 125, + "end_frame": 193, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 194, + "end_frame": 284, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 179, + "arm": "right", + "kind": "close", + "start_frame": 172, + "end_frame": 186 + }, + { + "frame": 201, + "arm": "left", + "kind": "open", + "start_frame": 194, + "end_frame": 208 + }, + { + "frame": 277, + "arm": "right", + "kind": "open", + "start_frame": 270, + "end_frame": 284 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000442.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000442.json new file mode 100644 index 0000000000000000000000000000000000000000..c3060bff57908b41e2954e991d913682b9e3fb5f --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000442.json @@ -0,0 +1,84 @@ +{ + "episode_index": 442, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block, transfer it, and set it on blue.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000443.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000443.json new file mode 100644 index 0000000000000000000000000000000000000000..c7a33234d41fa91bb02adc8dd6743e35e22a3829 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000443.json @@ -0,0 +1,84 @@ +{ + "episode_index": 443, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab red block, pass to the right arm, then drop on blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 115, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 116, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000444.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000444.json new file mode 100644 index 0000000000000000000000000000000000000000..5ad8206b7d19d77a1acc63c92e63ba755913db02 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000444.json @@ -0,0 +1,84 @@ +{ + "episode_index": 444, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block, transfer it, and set it on blue.", + "num_frames": 284, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 118, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 119, + "end_frame": 187, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 188, + "end_frame": 278, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 173, + "arm": "right", + "kind": "close", + "start_frame": 166, + "end_frame": 180 + }, + { + "frame": 195, + "arm": "left", + "kind": "open", + "start_frame": 188, + "end_frame": 202 + }, + { + "frame": 271, + "arm": "right", + "kind": "open", + "start_frame": 264, + "end_frame": 278 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000445.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000445.json new file mode 100644 index 0000000000000000000000000000000000000000..44e739b7413e26e035d752bcc93d4b34db186ba5 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000445.json @@ -0,0 +1,84 @@ +{ + "episode_index": 445, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with your left arm.", + "num_frames": 292, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 81, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 82, + "end_frame": 128, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 129, + "end_frame": 195, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 196, + "end_frame": 286, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 66, + "arm": "left", + "kind": "close", + "start_frame": 59, + "end_frame": 73 + }, + { + "frame": 181, + "arm": "right", + "kind": "close", + "start_frame": 174, + "end_frame": 188 + }, + { + "frame": 203, + "arm": "left", + "kind": "open", + "start_frame": 196, + "end_frame": 210 + }, + { + "frame": 279, + "arm": "right", + "kind": "open", + "start_frame": 272, + "end_frame": 286 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000446.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000446.json new file mode 100644 index 0000000000000000000000000000000000000000..674303984281204aad93fa59c7991dd5d765053b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000446.json @@ -0,0 +1,84 @@ +{ + "episode_index": 446, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grip the red block with the left arm and transfer it.", + "num_frames": 322, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 84, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 85, + "end_frame": 150, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 151, + "end_frame": 218, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 219, + "end_frame": 316, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 67, + "arm": "left", + "kind": "close", + "start_frame": 60, + "end_frame": 74 + }, + { + "frame": 204, + "arm": "right", + "kind": "close", + "start_frame": 197, + "end_frame": 211 + }, + { + "frame": 226, + "arm": "left", + "kind": "open", + "start_frame": 219, + "end_frame": 233 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000447.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000447.json new file mode 100644 index 0000000000000000000000000000000000000000..68cb13066b0d64092a696a13a2a7e9e35ebbedbc --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000447.json @@ -0,0 +1,84 @@ +{ + "episode_index": 447, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000448.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000448.json new file mode 100644 index 0000000000000000000000000000000000000000..5c4068988121c69af6e5ebeead72ff1d729902bf --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000448.json @@ -0,0 +1,84 @@ +{ + "episode_index": 448, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Move the red block from the left hand to the pad.", + "num_frames": 284, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 116, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 117, + "end_frame": 184, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 185, + "end_frame": 278, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 271, + "arm": "right", + "kind": "open", + "start_frame": 264, + "end_frame": 278 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000449.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000449.json new file mode 100644 index 0000000000000000000000000000000000000000..f2a3c30f4e248d87a59d86d15db1fb90d8742f6d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000449.json @@ -0,0 +1,84 @@ +{ + "episode_index": 449, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block with the left hand and pass it.", + "num_frames": 309, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 79, + "end_frame": 140, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 208, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 209, + "end_frame": 303, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 194, + "arm": "right", + "kind": "close", + "start_frame": 187, + "end_frame": 201 + }, + { + "frame": 216, + "arm": "left", + "kind": "open", + "start_frame": 209, + "end_frame": 223 + }, + { + "frame": 296, + "arm": "right", + "kind": "open", + "start_frame": 289, + "end_frame": 303 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000450.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000450.json new file mode 100644 index 0000000000000000000000000000000000000000..c2fcf07045268b11d5298e1750e6486b34ef311d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000450.json @@ -0,0 +1,84 @@ +{ + "episode_index": 450, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "The left arm should grab the red block, hand it to the right, and put it on the blue pad.", + "num_frames": 321, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 89, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 90, + "end_frame": 140, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 208, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 209, + "end_frame": 315, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 71, + "arm": "left", + "kind": "close", + "start_frame": 64, + "end_frame": 78 + }, + { + "frame": 194, + "arm": "right", + "kind": "close", + "start_frame": 187, + "end_frame": 201 + }, + { + "frame": 216, + "arm": "left", + "kind": "open", + "start_frame": 209, + "end_frame": 223 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000451.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000451.json new file mode 100644 index 0000000000000000000000000000000000000000..6cd345c693eab39fc54724c62fe7a77a6178d404 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000451.json @@ -0,0 +1,84 @@ +{ + "episode_index": 451, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grab the red block.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 109, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 110, + "end_frame": 177, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 178, + "end_frame": 270, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 163, + "arm": "right", + "kind": "close", + "start_frame": 156, + "end_frame": 170 + }, + { + "frame": 185, + "arm": "left", + "kind": "open", + "start_frame": 178, + "end_frame": 192 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000452.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000452.json new file mode 100644 index 0000000000000000000000000000000000000000..ec3c6f074dff9a7cfe10aa9afc2574d2c224aa9a --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000452.json @@ -0,0 +1,84 @@ +{ + "episode_index": 452, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.", + "num_frames": 319, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 87, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 88, + "end_frame": 141, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 209, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 210, + "end_frame": 313, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 69, + "arm": "left", + "kind": "close", + "start_frame": 62, + "end_frame": 76 + }, + { + "frame": 195, + "arm": "right", + "kind": "close", + "start_frame": 188, + "end_frame": 202 + }, + { + "frame": 217, + "arm": "left", + "kind": "open", + "start_frame": 210, + "end_frame": 224 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000453.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000453.json new file mode 100644 index 0000000000000000000000000000000000000000..ad7d3b7e9f159ba687562f463cf6a538f16383f3 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000453.json @@ -0,0 +1,84 @@ +{ + "episode_index": 453, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hand the red block to the right arm.", + "num_frames": 286, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 117, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 118, + "end_frame": 186, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 187, + "end_frame": 280, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 172, + "arm": "right", + "kind": "close", + "start_frame": 165, + "end_frame": 179 + }, + { + "frame": 194, + "arm": "left", + "kind": "open", + "start_frame": 187, + "end_frame": 201 + }, + { + "frame": 273, + "arm": "right", + "kind": "open", + "start_frame": 266, + "end_frame": 280 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000454.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000454.json new file mode 100644 index 0000000000000000000000000000000000000000..1517315fbfecf032bd66d9292b2cb69fc009bec1 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000454.json @@ -0,0 +1,84 @@ +{ + "episode_index": 454, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use your arms to shift the red block.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000455.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000455.json new file mode 100644 index 0000000000000000000000000000000000000000..46093b4aa3f0f66a16b4cb2fd131a542d756c103 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000455.json @@ -0,0 +1,84 @@ +{ + "episode_index": 455, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pass the red block from the left to the right.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000456.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000456.json new file mode 100644 index 0000000000000000000000000000000000000000..ed8dbb70c91d0dedefd2be0188f89c65a2fadd34 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000456.json @@ -0,0 +1,84 @@ +{ + "episode_index": 456, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Place the red block on the blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000457.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000457.json new file mode 100644 index 0000000000000000000000000000000000000000..74abb978232cddbdc8ca2dbd88006e59d438f47d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000457.json @@ -0,0 +1,84 @@ +{ + "episode_index": 457, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 116, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 117, + "end_frame": 184, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 185, + "end_frame": 277, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000458.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000458.json new file mode 100644 index 0000000000000000000000000000000000000000..dc6f877f63d8919d85674e38f5712969b1a8a6f2 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000458.json @@ -0,0 +1,84 @@ +{ + "episode_index": 458, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "The left arm should grab the red block, hand it to the right, and put it on the blue pad.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000459.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000459.json new file mode 100644 index 0000000000000000000000000000000000000000..3610436ecadadc7cf89645a68bd3da60c6d0558c --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000459.json @@ -0,0 +1,84 @@ +{ + "episode_index": 459, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.", + "num_frames": 297, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 78, + "end_frame": 126, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 127, + "end_frame": 193, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 194, + "end_frame": 291, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 179, + "arm": "right", + "kind": "close", + "start_frame": 172, + "end_frame": 186 + }, + { + "frame": 201, + "arm": "left", + "kind": "open", + "start_frame": 194, + "end_frame": 208 + }, + { + "frame": 284, + "arm": "right", + "kind": "open", + "start_frame": 277, + "end_frame": 291 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000460.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000460.json new file mode 100644 index 0000000000000000000000000000000000000000..ee05e25d0cf4dbf5f180fda7ec06eb895596146f --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000460.json @@ -0,0 +1,84 @@ +{ + "episode_index": 460, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Set the red block on the blue pad gently.", + "num_frames": 306, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 79, + "end_frame": 138, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 206, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 207, + "end_frame": 300, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 192, + "arm": "right", + "kind": "close", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 214, + "arm": "left", + "kind": "open", + "start_frame": 207, + "end_frame": 221 + }, + { + "frame": 293, + "arm": "right", + "kind": "open", + "start_frame": 286, + "end_frame": 300 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000461.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000461.json new file mode 100644 index 0000000000000000000000000000000000000000..098be4b47499660c74d3ba4d9229ad254eee2b1d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000461.json @@ -0,0 +1,84 @@ +{ + "episode_index": 461, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block using the left arm and hand it over.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 110, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 111, + "end_frame": 178, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 179, + "end_frame": 270, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000462.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000462.json new file mode 100644 index 0000000000000000000000000000000000000000..3f38d04031dd81ed0aad29f2121931595b298f31 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000462.json @@ -0,0 +1,84 @@ +{ + "episode_index": 462, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 109, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 110, + "end_frame": 177, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 178, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 163, + "arm": "right", + "kind": "close", + "start_frame": 156, + "end_frame": 170 + }, + { + "frame": 185, + "arm": "left", + "kind": "open", + "start_frame": 178, + "end_frame": 192 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000463.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000463.json new file mode 100644 index 0000000000000000000000000000000000000000..76a3bc181dfc4b0ea82bf48608b5d6e9de764a31 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000463.json @@ -0,0 +1,84 @@ +{ + "episode_index": 463, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hand over the red block to the right arm.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000464.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000464.json new file mode 100644 index 0000000000000000000000000000000000000000..da749e5cf7d3391780d0af7f996ec0682840c8a2 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000464.json @@ -0,0 +1,84 @@ +{ + "episode_index": 464, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.", + "num_frames": 284, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": 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"gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 271, + "arm": "right", + "kind": "open", + "start_frame": 264, + "end_frame": 278 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000465.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000465.json new file mode 100644 index 0000000000000000000000000000000000000000..835d79fbafe1c564eaa64165167f27b7524bab08 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000465.json @@ -0,0 +1,84 @@ +{ + "episode_index": 465, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hand over the red block to the right arm.", + "num_frames": 286, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 75, + "end_frame": 118, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + 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+ { + "frame": 194, + "arm": "left", + "kind": "open", + "start_frame": 187, + "end_frame": 201 + }, + { + "frame": 273, + "arm": "right", + "kind": "open", + "start_frame": 266, + "end_frame": 280 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000466.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000466.json new file mode 100644 index 0000000000000000000000000000000000000000..240ece03158ab062d506c366bc8ecc294b972f74 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000466.json @@ -0,0 +1,84 @@ +{ + "episode_index": 466, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hold the red block, transfer to the right arm, then set it down.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": 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"after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000467.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000467.json new file mode 100644 index 0000000000000000000000000000000000000000..f682120a83947a7a9eef34a33481615ba0222a6a --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000467.json @@ -0,0 +1,84 @@ +{ + "episode_index": 467, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hand the red block to the right arm.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 275, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000468.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000468.json new file mode 100644 index 0000000000000000000000000000000000000000..53b431b786e4b207c945f6499706cc3f3d978d6b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000468.json @@ -0,0 +1,84 @@ +{ + "episode_index": 468, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000469.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000469.json new file mode 100644 index 0000000000000000000000000000000000000000..29e0952d39973a15e5d75bfdf34d4c6f07df7719 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000469.json @@ -0,0 +1,84 @@ +{ + "episode_index": 469, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up and handover the red block.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000470.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000470.json new file mode 100644 index 0000000000000000000000000000000000000000..8821d25383188aa34603c30a24962a2464c9fc31 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000470.json @@ -0,0 +1,84 @@ +{ + "episode_index": 470, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block, hand it over, and place it properly.", + "num_frames": 287, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 79, + "end_frame": 120, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 121, + "end_frame": 188, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 189, + "end_frame": 281, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 174, + "arm": "right", + "kind": "close", + "start_frame": 167, + "end_frame": 181 + }, + { + "frame": 196, + "arm": "left", + "kind": "open", + "start_frame": 189, + "end_frame": 203 + }, + { + "frame": 274, + "arm": "right", + "kind": "open", + "start_frame": 267, + "end_frame": 281 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000471.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000471.json new file mode 100644 index 0000000000000000000000000000000000000000..c787dd10acff692277cb84067c55156876c4df62 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000471.json @@ -0,0 +1,84 @@ +{ + "episode_index": 471, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift, switch arms, and place the red block.", + "num_frames": 295, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 79, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 80, + "end_frame": 128, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 129, + "end_frame": 196, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 197, + "end_frame": 289, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "left", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 182, + "arm": "right", + "kind": "close", + "start_frame": 175, + "end_frame": 189 + }, + { + "frame": 204, + "arm": "left", + "kind": "open", + "start_frame": 197, + "end_frame": 211 + }, + { + "frame": 282, + "arm": "right", + "kind": "open", + "start_frame": 275, + "end_frame": 289 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000472.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000472.json new file mode 100644 index 0000000000000000000000000000000000000000..eb7744ec18893f079b44a2caab83ac242269ad29 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000472.json @@ -0,0 +1,84 @@ +{ + "episode_index": 472, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Set the red block on the blue pad gently.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000473.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000473.json new file mode 100644 index 0000000000000000000000000000000000000000..4f8cfff52b5de862bf4167095f8a3bcd2b192c75 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000473.json @@ -0,0 +1,84 @@ +{ + "episode_index": 473, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hold the red block, transfer to the right arm, then set it down.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 276, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000474.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000474.json new file mode 100644 index 0000000000000000000000000000000000000000..0ae433e3999266528476be07ed0d4d2084740620 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000474.json @@ -0,0 +1,84 @@ +{ + "episode_index": 474, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use left arm to grab the block and hand it to the right.", + "num_frames": 290, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 77, + "end_frame": 121, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 122, + "end_frame": 189, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 190, + "end_frame": 284, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 175, + "arm": "right", + "kind": "close", + "start_frame": 168, + "end_frame": 182 + }, + { + "frame": 197, + "arm": "left", + "kind": "open", + "start_frame": 190, + "end_frame": 204 + }, + { + "frame": 277, + "arm": "right", + "kind": "open", + "start_frame": 270, + "end_frame": 284 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000475.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000475.json new file mode 100644 index 0000000000000000000000000000000000000000..c49c5ea00033adca1d6e39556e17c3c5af8b4d0b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000475.json @@ -0,0 +1,84 @@ +{ + "episode_index": 475, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block with the left arm and transfer to the right.", + "num_frames": 287, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 76, + "end_frame": 121, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 122, + "end_frame": 189, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 190, + "end_frame": 281, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 175, + "arm": "right", + "kind": "close", + "start_frame": 168, + "end_frame": 182 + }, + { + "frame": 197, + "arm": "left", + "kind": "open", + "start_frame": 190, + "end_frame": 204 + }, + { + "frame": 274, + "arm": "right", + "kind": "open", + "start_frame": 267, + "end_frame": 281 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000476.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000476.json new file mode 100644 index 0000000000000000000000000000000000000000..d7722322e3446eec7199833e884489ba1e2017ac --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000476.json @@ -0,0 +1,84 @@ +{ + "episode_index": 476, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000477.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000477.json new file mode 100644 index 0000000000000000000000000000000000000000..b4c30e1e944adadb6c7fc964f7763adbb51d1fce --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000477.json @@ -0,0 +1,84 @@ +{ + "episode_index": 477, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 77, + "end_frame": 117, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 118, + "end_frame": 184, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 185, + "end_frame": 276, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000478.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000478.json new file mode 100644 index 0000000000000000000000000000000000000000..b8490131590ed9e92fe4a8dc5314e5784d385344 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000478.json @@ -0,0 +1,84 @@ +{ + "episode_index": 478, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block with the left hand and pass it.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 178, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 179, + "end_frame": 270, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000479.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000479.json new file mode 100644 index 0000000000000000000000000000000000000000..b3c46d411a045df107fe94bae7c161856ea25b3d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000479.json @@ -0,0 +1,84 @@ +{ + "episode_index": 479, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use left arm to grab the red block and place it on the pad.", + "num_frames": 285, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 79, + "end_frame": 119, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 120, + "end_frame": 187, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 188, + "end_frame": 279, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 173, + "arm": "right", + "kind": "close", + "start_frame": 166, + "end_frame": 180 + }, + { + "frame": 195, + "arm": "left", + "kind": "open", + "start_frame": 188, + "end_frame": 202 + }, + { + "frame": 272, + "arm": "right", + "kind": "open", + "start_frame": 265, + "end_frame": 279 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000480.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000480.json new file mode 100644 index 0000000000000000000000000000000000000000..e7445dfb0a923ad8eaba14f4af6b9c347d4fc6dc --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000480.json @@ -0,0 +1,84 @@ +{ + "episode_index": 480, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block, pass it to the right arm, and drop it.", + "num_frames": 289, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + 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most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 175, + "arm": "right", + "kind": "close", + "start_frame": 168, + "end_frame": 182 + }, + { + "frame": 197, + "arm": "left", + "kind": "open", + "start_frame": 190, + "end_frame": 204 + }, + { + "frame": 276, + "arm": "right", + "kind": "open", + "start_frame": 269, + "end_frame": 283 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000481.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000481.json new file mode 100644 index 0000000000000000000000000000000000000000..286ef4697b3ae8922915febf2cca31dcf3dacaf1 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000481.json @@ -0,0 +1,84 @@ +{ + "episode_index": 481, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block, pass it to the right arm, and drop it.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000482.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000482.json new file mode 100644 index 0000000000000000000000000000000000000000..a434f4ee96f53911065e55c1dbadfae335327c78 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000482.json @@ -0,0 +1,84 @@ +{ + "episode_index": 482, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab red block, pass to the right arm, then drop on blue pad.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": 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"alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000483.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000483.json new file mode 100644 index 0000000000000000000000000000000000000000..5892cb1db2b3b3a1693694dab195a260e246bb7d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000483.json @@ -0,0 +1,84 @@ +{ + "episode_index": 483, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + 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"kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000484.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000484.json new file mode 100644 index 0000000000000000000000000000000000000000..dcd2ed5b5fadb3c14086300400ab1ff8759e5d3e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000484.json @@ -0,0 +1,84 @@ +{ + "episode_index": 484, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grip the red block with the left arm and transfer it.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": 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"gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000485.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000485.json new file mode 100644 index 0000000000000000000000000000000000000000..334b365b90c38018543ec4c1a592ce7f66978d09 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000485.json @@ -0,0 +1,84 @@ +{ + "episode_index": 485, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block with the left arm and transfer to the right.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 114, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 115, + "end_frame": 182, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 183, + "end_frame": 276, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000486.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000486.json new file mode 100644 index 0000000000000000000000000000000000000000..57b68565baac5e16b17bb012263fe222b34c2d1a --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000486.json @@ -0,0 +1,84 @@ +{ + "episode_index": 486, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Place the red block on the blue pad.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp 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"after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 163, + "arm": "right", + "kind": "close", + "start_frame": 156, + "end_frame": 170 + }, + { + "frame": 185, + "arm": "left", + "kind": "open", + "start_frame": 178, + "end_frame": 192 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000487.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000487.json new file mode 100644 index 0000000000000000000000000000000000000000..cb56864940853d63aa2cd0ca23fdbde9e97986e6 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000487.json @@ -0,0 +1,84 @@ +{ + "episode_index": 487, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hold the red block, transfer to the right arm, then set it down.", + "num_frames": 291, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 79, + "end_frame": 124, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 125, + "end_frame": 192, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 193, + "end_frame": 285, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 178, + "arm": "right", + "kind": "close", + "start_frame": 171, + "end_frame": 185 + }, + { + "frame": 200, + "arm": "left", + "kind": "open", + "start_frame": 193, + "end_frame": 207 + }, + { + "frame": 278, + "arm": "right", + "kind": "open", + "start_frame": 271, + "end_frame": 285 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000488.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000488.json new file mode 100644 index 0000000000000000000000000000000000000000..517edab22c64a0eb3ce63a2839d85932029afb11 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000488.json @@ -0,0 +1,84 @@ +{ + "episode_index": 488, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 272, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000489.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000489.json new file mode 100644 index 0000000000000000000000000000000000000000..6561bd7b5f403f7426aa19dd8e89dd81c093433e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000489.json @@ -0,0 +1,84 @@ +{ + "episode_index": 489, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block and move it to the pad.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 77, + "end_frame": 115, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 116, + "end_frame": 183, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 184, + "end_frame": 276, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000490.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000490.json new file mode 100644 index 0000000000000000000000000000000000000000..9a788c4d3242902e0f1c386c3eb47924a6300bee --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000490.json @@ -0,0 +1,84 @@ +{ + "episode_index": 490, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hold the red block, transfer to the right arm, then set it down.", + "num_frames": 325, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 86, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 87, + "end_frame": 144, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 145, + "end_frame": 212, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 213, + "end_frame": 319, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 71, + "arm": "left", + "kind": "close", + "start_frame": 64, + "end_frame": 78 + }, + { + "frame": 198, + "arm": "right", + "kind": "close", + "start_frame": 191, + "end_frame": 205 + }, + { + "frame": 220, + "arm": "left", + "kind": "open", + "start_frame": 213, + "end_frame": 227 + }, + { + "frame": 312, + "arm": "right", + "kind": "open", + "start_frame": 305, + "end_frame": 319 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000491.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000491.json new file mode 100644 index 0000000000000000000000000000000000000000..26c51b897eddacf39bf530516e57c00ead2a68ee --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000491.json @@ -0,0 +1,84 @@ +{ + "episode_index": 491, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block, pass it to the right arm, then place it.", + "num_frames": 309, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 88, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 89, + "end_frame": 135, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 136, + "end_frame": 203, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 204, + "end_frame": 303, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 72, + "arm": "left", + "kind": "close", + "start_frame": 65, + "end_frame": 79 + }, + { + "frame": 189, + "arm": "right", + "kind": "close", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 211, + "arm": "left", + "kind": "open", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 296, + "arm": "right", + "kind": "open", + "start_frame": 289, + "end_frame": 303 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000492.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000492.json new file mode 100644 index 0000000000000000000000000000000000000000..e762ef02fc9c95cd2d6dcbc4d3c446b8cc866be7 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000492.json @@ -0,0 +1,84 @@ +{ + "episode_index": 492, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block with the left hand and pass it.", + "num_frames": 274, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 109, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 110, + "end_frame": 176, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 177, + "end_frame": 268, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 162, + "arm": "right", + "kind": "close", + "start_frame": 155, + "end_frame": 169 + }, + { + "frame": 184, + "arm": "left", + "kind": "open", + "start_frame": 177, + "end_frame": 191 + }, + { + "frame": 261, + "arm": "right", + "kind": "open", + "start_frame": 254, + "end_frame": 268 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000493.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000493.json new file mode 100644 index 0000000000000000000000000000000000000000..2d35437ed5bc12a68e1a4fa2bdaf0cbf7c3ed067 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000493.json @@ -0,0 +1,84 @@ +{ + "episode_index": 493, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.", + "num_frames": 294, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 79, + "end_frame": 127, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 128, + "end_frame": 195, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 196, + "end_frame": 288, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 181, + "arm": "right", + "kind": "close", + "start_frame": 174, + "end_frame": 188 + }, + { + "frame": 203, + "arm": "left", + "kind": "open", + "start_frame": 196, + "end_frame": 210 + }, + { + "frame": 281, + "arm": "right", + "kind": "open", + "start_frame": 274, + "end_frame": 288 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000494.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000494.json new file mode 100644 index 0000000000000000000000000000000000000000..e298c5e1a3a409f60cf8f45e98690ffa58f39e48 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000494.json @@ -0,0 +1,84 @@ +{ + "episode_index": 494, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use your arms to shift the red block.", + "num_frames": 310, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 82, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 83, + "end_frame": 137, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 205, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 206, + "end_frame": 304, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 65, + "arm": "left", + "kind": "close", + "start_frame": 58, + "end_frame": 72 + }, + { + "frame": 191, + "arm": "right", + "kind": "close", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 213, + "arm": "left", + "kind": "open", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 297, + "arm": "right", + "kind": "open", + "start_frame": 290, + "end_frame": 304 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000495.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000495.json new file mode 100644 index 0000000000000000000000000000000000000000..22f8d70642e1e64a951a9a227d554421636b3bc8 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000495.json @@ -0,0 +1,84 @@ +{ + "episode_index": 495, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up and handover the red block.", + "num_frames": 291, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 77, + "end_frame": 120, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 121, + "end_frame": 188, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 189, + "end_frame": 285, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 174, + "arm": "right", + "kind": "close", + "start_frame": 167, + "end_frame": 181 + }, + { + "frame": 196, + "arm": "left", + "kind": "open", + "start_frame": 189, + "end_frame": 203 + }, + { + "frame": 278, + "arm": "right", + "kind": "open", + "start_frame": 271, + "end_frame": 285 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000496.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000496.json new file mode 100644 index 0000000000000000000000000000000000000000..75b4c3443b189487a3acf1f607d59ad89aa4bdf7 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000496.json @@ -0,0 +1,84 @@ +{ + "episode_index": 496, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block, transfer it, and set it on blue.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 112, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 113, + "end_frame": 180, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 181, + "end_frame": 273, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000497.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000497.json new file mode 100644 index 0000000000000000000000000000000000000000..b8188c1fe3d22824a1d4f017739a18d3789881ec --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000497.json @@ -0,0 +1,84 @@ +{ + "episode_index": 497, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block and move it to the pad.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 111, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 112, + "end_frame": 179, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 180, + "end_frame": 271, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000498.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000498.json new file mode 100644 index 0000000000000000000000000000000000000000..91d8791f554ca73a930126fb0f39f88230bd80b4 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000498.json @@ -0,0 +1,84 @@ +{ + "episode_index": 498, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 274, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000499.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000499.json new file mode 100644 index 0000000000000000000000000000000000000000..30f3172efc3f1f293106394bad3141bfdb1d03a0 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000499.json @@ -0,0 +1,84 @@ +{ + "episode_index": 499, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the block with the left arm, pass it to the right arm.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare the red block for transfer.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 113, + "boundary_source": "single_arm_switch", + "truncation_rule": "single_arm_switch" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the red block.", + "subtask_type": "single_grasp", + "start_frame": 114, + "end_frame": 181, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Transfer the red block to the other hand and place it on the blue pad.", + "subtask_type": "handover", + "start_frame": 182, + "end_frame": 276, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {} + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000000.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..71bd8e34428c511a2ccd440aa45f6b080abfeb1e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000000.json @@ -0,0 +1,76 @@ +{ + "episode_index": 0, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block, pass it to the right arm, and drop it.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 115, + "end_frame": 205, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 206, + "end_frame": 279, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000001.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..5aabe89c97fc8faeb4a5cc7ef63706791abecc23 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000001.json @@ -0,0 +1,76 @@ +{ + "episode_index": 1, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 112, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 113, + "end_frame": 202, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 203, + "end_frame": 278, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000002.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..2a270e72d99e55457c30ea6908b7fb6493c20533 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000002.json @@ -0,0 +1,76 @@ +{ + "episode_index": 2, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 114, + "end_frame": 203, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 204, + "end_frame": 277, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000003.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..4df5f7b861d34a6e863819c4c8dfbeaa3aa486db --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000003.json @@ -0,0 +1,76 @@ +{ + "episode_index": 3, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use your arms to shift the red block.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 115, + "end_frame": 204, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 205, + "end_frame": 280, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000004.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..dcf05e8428026601a41088a63316b903d830109d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000004.json @@ -0,0 +1,76 @@ +{ + "episode_index": 4, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 117, + "end_frame": 207, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on 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a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000005.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..84ff26ffe6c0fdbb07c6a3a555f1f687fc0e2824 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000005.json @@ -0,0 +1,76 @@ +{ + "episode_index": 5, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.", + "num_frames": 275, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 109, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block 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"open", + "start_frame": 255, + "end_frame": 269 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000006.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..96e74334ce17e9655e75f76aa8b94ec8f2414a56 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000006.json @@ -0,0 +1,76 @@ +{ + "episode_index": 6, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red 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"handover_block", + "task_goal": "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.", + "num_frames": 289, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 123, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 124, + "end_frame": 213, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 214, + "end_frame": 288, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 176, + "arm": "right", + "kind": "close", + "start_frame": 169, + "end_frame": 183 + }, + { + "frame": 198, + "arm": "left", + "kind": "open", + "start_frame": 191, + "end_frame": 205 + }, + { + "frame": 276, + "arm": "right", + "kind": "open", + "start_frame": 269, + "end_frame": 283 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000008.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..70300345ba892e9144e6d6fed38294cf0ae5b561 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000008.json @@ -0,0 +1,76 @@ +{ + "episode_index": 8, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.", + "num_frames": 295, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 129, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 130, + "end_frame": 219, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 220, + "end_frame": 294, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 182, + "arm": "right", + "kind": "close", + "start_frame": 175, + "end_frame": 189 + }, + { + "frame": 204, + "arm": "left", + "kind": "open", + "start_frame": 197, + "end_frame": 211 + }, + { + "frame": 282, + "arm": "right", + "kind": "open", + "start_frame": 275, + "end_frame": 289 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000009.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..97ce09d9b7243448f5112330bda6ac73605f4fc8 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000009.json @@ -0,0 +1,76 @@ +{ + "episode_index": 9, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hand the red block to the right arm.", + "num_frames": 284, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 119, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 120, + "end_frame": 209, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 210, + "end_frame": 283, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 172, + "arm": "right", + "kind": "close", + "start_frame": 165, + "end_frame": 179 + }, + { + "frame": 194, + "arm": "left", + "kind": "open", + "start_frame": 187, + "end_frame": 201 + }, + { + "frame": 271, + "arm": "right", + "kind": "open", + "start_frame": 264, + "end_frame": 278 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000010.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000010.json new file mode 100644 index 0000000000000000000000000000000000000000..b34982cd171c01568f1445ff82b4c65b52b12e42 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000010.json @@ -0,0 +1,76 @@ +{ + "episode_index": 10, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab red block, pass to the right arm, then drop on blue pad.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 117, + "end_frame": 206, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 207, + "end_frame": 281, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000011.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000011.json new file mode 100644 index 0000000000000000000000000000000000000000..b1af3a6164800c69d879569edb51d5b13a26f6eb --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000011.json @@ -0,0 +1,76 @@ +{ + "episode_index": 11, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hold the red block, transfer to the right arm, then set it down.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 116, + "end_frame": 205, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 206, + "end_frame": 279, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000012.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000012.json new file mode 100644 index 0000000000000000000000000000000000000000..b1127d49c1f0abe5320decebac3b0040eb579238 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000012.json @@ -0,0 +1,76 @@ +{ + "episode_index": 12, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block, hand it to the right arm, then set it down.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 111, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 112, + "end_frame": 201, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 202, + "end_frame": 278, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000013.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000013.json new file mode 100644 index 0000000000000000000000000000000000000000..01a07c23c3f1a13ef50de61ecbadf63c4cb2fa2a --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000013.json @@ -0,0 +1,76 @@ +{ + "episode_index": 13, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.", + "num_frames": 348, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 168, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 169, + "end_frame": 258, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 259, + "end_frame": 347, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 75, + "arm": "left", + "kind": "close", + "start_frame": 68, + "end_frame": 82 + }, + { + "frame": 221, + "arm": "right", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + }, + { + "frame": 243, + "arm": "left", + "kind": "open", + "start_frame": 236, + "end_frame": 250 + }, + { + "frame": 335, + "arm": "right", + "kind": "open", + "start_frame": 328, + "end_frame": 342 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000014.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000014.json new file mode 100644 index 0000000000000000000000000000000000000000..9a361357a22bc9c3acc65990d8c21a8897daca24 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000014.json @@ -0,0 +1,76 @@ +{ + "episode_index": 14, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "The left arm should grab the red block, hand it to the right, and put it on the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 117, + "end_frame": 205, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 206, + "end_frame": 279, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000015.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000015.json new file mode 100644 index 0000000000000000000000000000000000000000..2ba7d46e4e08dd272989c38acf9380b096b71834 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000015.json @@ -0,0 +1,76 @@ +{ + "episode_index": 15, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Place the red block on the blue pad.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 112, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 113, + "end_frame": 202, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 203, + "end_frame": 276, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000016.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000016.json new file mode 100644 index 0000000000000000000000000000000000000000..e89fd9a4be1314ef08819c11ea373ff1599977e4 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000016.json @@ -0,0 +1,76 @@ +{ + "episode_index": 16, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Set the red block on the blue pad gently.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 112, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 113, + "end_frame": 202, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 203, + "end_frame": 278, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000017.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000017.json new file mode 100644 index 0000000000000000000000000000000000000000..bf4c26f841371b67b060bf4bcb2a212c8c0ab1f5 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000017.json @@ -0,0 +1,76 @@ +{ + "episode_index": 17, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block, hand it to the right arm, then set it down.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 116, + "end_frame": 205, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 206, + "end_frame": 279, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000018.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000018.json new file mode 100644 index 0000000000000000000000000000000000000000..cb9f1d48f7c7752bc038c4d1df604f49a768c648 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000018.json @@ -0,0 +1,76 @@ +{ + "episode_index": 18, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the block with the left arm, pass it to the right arm.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 115, + "end_frame": 204, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 205, + "end_frame": 278, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000019.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000019.json new file mode 100644 index 0000000000000000000000000000000000000000..e2f6f13562317d46b3e07eb7c889358fbc1ebf9d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000019.json @@ -0,0 +1,76 @@ +{ + "episode_index": 19, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 111, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 112, + "end_frame": 201, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 202, + "end_frame": 275, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000020.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000020.json new file mode 100644 index 0000000000000000000000000000000000000000..68b68c187367c83960aa35253f897c9590499abb --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000020.json @@ -0,0 +1,76 @@ +{ + "episode_index": 20, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.", + "num_frames": 290, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 125, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 126, + "end_frame": 215, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 216, + "end_frame": 289, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 178, + "arm": "right", + "kind": "close", + "start_frame": 171, + "end_frame": 185 + }, + { + "frame": 200, + "arm": "left", + "kind": "open", + "start_frame": 193, + "end_frame": 207 + }, + { + "frame": 277, + "arm": "right", + "kind": "open", + "start_frame": 270, + "end_frame": 284 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000021.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000021.json new file mode 100644 index 0000000000000000000000000000000000000000..690f26ebaa2cb8759cba63c787ab776b2f502d36 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000021.json @@ -0,0 +1,76 @@ +{ + "episode_index": 21, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block using the left arm and hand it over.", + "num_frames": 294, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 128, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 129, + "end_frame": 218, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 219, + "end_frame": 293, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 181, + "arm": "right", + "kind": "close", + "start_frame": 174, + "end_frame": 188 + }, + { + "frame": 203, + "arm": "left", + "kind": "open", + "start_frame": 196, + "end_frame": 210 + }, + { + "frame": 281, + "arm": "right", + "kind": "open", + "start_frame": 274, + "end_frame": 288 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000022.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000022.json new file mode 100644 index 0000000000000000000000000000000000000000..11bd78f880d2a24eba7a2cc881af3089f5161505 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000022.json @@ -0,0 +1,76 @@ +{ + "episode_index": 22, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 114, + "end_frame": 203, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 204, + "end_frame": 279, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000023.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000023.json new file mode 100644 index 0000000000000000000000000000000000000000..c6a6b9eee23de95c5236b8891f07b8f1174c6bfd --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000023.json @@ -0,0 +1,76 @@ +{ + "episode_index": 23, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use left arm to grab the block and hand it to the right.", + "num_frames": 304, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 225, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 226, + "end_frame": 303, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 188, + "arm": "right", + "kind": "close", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 210, + "arm": "left", + "kind": "open", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 291, + "arm": "right", + "kind": "open", + "start_frame": 284, + "end_frame": 298 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000024.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000024.json new file mode 100644 index 0000000000000000000000000000000000000000..68fe8e0011eae9dbafc73fd68ca3ea319ee9dd24 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000024.json @@ -0,0 +1,76 @@ +{ + "episode_index": 24, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift, switch arms, and place the red block.", + "num_frames": 287, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 119, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 120, + "end_frame": 209, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 210, + "end_frame": 286, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 172, + "arm": "right", + "kind": "close", + "start_frame": 165, + "end_frame": 179 + }, + { + "frame": 194, + "arm": "left", + "kind": "open", + "start_frame": 187, + "end_frame": 201 + }, + { + "frame": 274, + "arm": "right", + "kind": "open", + "start_frame": 267, + "end_frame": 281 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000025.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000025.json new file mode 100644 index 0000000000000000000000000000000000000000..aea96a5f6a8809f3185fc1a49c5f11d6660c6682 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000025.json @@ -0,0 +1,76 @@ +{ + "episode_index": 25, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.", + "num_frames": 289, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 118, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 119, + "end_frame": 208, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 209, + "end_frame": 288, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 171, + "arm": "right", + "kind": "close", + "start_frame": 164, + "end_frame": 178 + }, + { + "frame": 193, + "arm": "left", + "kind": "open", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 276, + "arm": "right", + "kind": "open", + "start_frame": 269, + "end_frame": 283 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000026.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000026.json new file mode 100644 index 0000000000000000000000000000000000000000..68324d38d7f51bb4dde58726ce2338d94d1874d6 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000026.json @@ -0,0 +1,76 @@ +{ + "episode_index": 26, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.", + "num_frames": 325, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 148, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 149, + "end_frame": 239, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 240, + "end_frame": 324, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 77, + "arm": "left", + "kind": "close", + "start_frame": 70, + "end_frame": 84 + }, + { + "frame": 201, + "arm": "right", + "kind": "close", + "start_frame": 194, + "end_frame": 208 + }, + { + "frame": 223, + "arm": "left", + "kind": "open", + "start_frame": 216, + "end_frame": 230 + }, + { + "frame": 312, + "arm": "right", + "kind": "open", + "start_frame": 305, + "end_frame": 319 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000027.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000027.json new file mode 100644 index 0000000000000000000000000000000000000000..df8624d3d89a88225a79d551e3e1c078541426ec --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000027.json @@ -0,0 +1,76 @@ +{ + "episode_index": 27, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hand the red block to the right arm.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 114, + "end_frame": 204, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 205, + "end_frame": 281, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000028.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000028.json new file mode 100644 index 0000000000000000000000000000000000000000..89ecf5d735ead024bbee64b42ee18583ee7b0194 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000028.json @@ -0,0 +1,76 @@ +{ + "episode_index": 28, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 115, + "end_frame": 203, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 204, + "end_frame": 277, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000029.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000029.json new file mode 100644 index 0000000000000000000000000000000000000000..daea3329425fdd010c375e219ddbad30838c96c1 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000029.json @@ -0,0 +1,76 @@ +{ + "episode_index": 29, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 115, + "end_frame": 205, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 206, + "end_frame": 282, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000030.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000030.json new file mode 100644 index 0000000000000000000000000000000000000000..4c9c3a7218a5cbf7764846d0d228aa59852a3fcf --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000030.json @@ -0,0 +1,76 @@ +{ + "episode_index": 30, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use left arm to grab the red block and place it on the pad.", + "num_frames": 287, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 121, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 122, + "end_frame": 211, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 212, + "end_frame": 286, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 174, + "arm": "right", + "kind": "close", + "start_frame": 167, + "end_frame": 181 + }, + { + "frame": 196, + "arm": "left", + "kind": "open", + "start_frame": 189, + "end_frame": 203 + }, + { + "frame": 274, + "arm": "right", + "kind": "open", + "start_frame": 267, + "end_frame": 281 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000031.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000031.json new file mode 100644 index 0000000000000000000000000000000000000000..91896bf334c93e913bbda50b9c356c899b50c8d2 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000031.json @@ -0,0 +1,76 @@ +{ + "episode_index": 31, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Move the red block from the left hand to the pad.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 117, + "end_frame": 206, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 207, + "end_frame": 280, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000032.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000032.json new file mode 100644 index 0000000000000000000000000000000000000000..0edd19ff15142048cd11b785c2e581b468034355 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000032.json @@ -0,0 +1,76 @@ +{ + "episode_index": 32, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hand the red block to the right arm.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 117, + "end_frame": 206, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 207, + "end_frame": 282, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000033.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000033.json new file mode 100644 index 0000000000000000000000000000000000000000..4501405d7a20c392a238172e29605e3fee08d1b7 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000033.json @@ -0,0 +1,76 @@ +{ + "episode_index": 33, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 115, + "end_frame": 203, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 204, + "end_frame": 277, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000034.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000034.json new file mode 100644 index 0000000000000000000000000000000000000000..cac721fb0d19609e8bee49f228990a573de1a177 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000034.json @@ -0,0 +1,76 @@ +{ + "episode_index": 34, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 117, + "end_frame": 206, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 207, + "end_frame": 281, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000035.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000035.json new file mode 100644 index 0000000000000000000000000000000000000000..bacd179d6a765eadc5545b1dc3d8d79218407369 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000035.json @@ -0,0 +1,76 @@ +{ + "episode_index": 35, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block, transfer it, and set it on blue.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 112, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 113, + "end_frame": 202, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 203, + "end_frame": 276, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000036.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000036.json new file mode 100644 index 0000000000000000000000000000000000000000..e0ab31720fb971c16d86f5a6368d8d67f8ea558b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000036.json @@ -0,0 +1,76 @@ +{ + "episode_index": 36, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block and transfer to the right.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 112, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 113, + "end_frame": 201, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 202, + "end_frame": 276, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000037.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000037.json new file mode 100644 index 0000000000000000000000000000000000000000..76d17e7fa8c05b1dc3f315b353867a91542140b2 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000037.json @@ -0,0 +1,76 @@ +{ + "episode_index": 37, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Move the red block using the left arm.", + "num_frames": 291, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 125, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 126, + "end_frame": 215, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 216, + "end_frame": 290, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 178, + "arm": "right", + "kind": "close", + "start_frame": 171, + "end_frame": 185 + }, + { + "frame": 200, + "arm": "left", + "kind": "open", + "start_frame": 193, + "end_frame": 207 + }, + { + "frame": 278, + "arm": "right", + "kind": "open", + "start_frame": 271, + "end_frame": 285 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000038.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000038.json new file mode 100644 index 0000000000000000000000000000000000000000..b258609fb6eab816643828ed8020e6a539d24317 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000038.json @@ -0,0 +1,76 @@ +{ + "episode_index": 38, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.", + "num_frames": 288, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 122, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 123, + "end_frame": 212, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 213, + "end_frame": 287, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 175, + "arm": "right", + "kind": "close", + "start_frame": 168, + "end_frame": 182 + }, + { + "frame": 197, + "arm": "left", + "kind": "open", + "start_frame": 190, + "end_frame": 204 + }, + { + "frame": 275, + "arm": "right", + "kind": "open", + "start_frame": 268, + "end_frame": 282 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000039.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000039.json new file mode 100644 index 0000000000000000000000000000000000000000..1bc7dfbad3c13c569fbe4bdc857626b92429c12d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000039.json @@ -0,0 +1,76 @@ +{ + "episode_index": 39, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 117, + "end_frame": 207, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 208, + "end_frame": 282, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000040.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000040.json new file mode 100644 index 0000000000000000000000000000000000000000..7d7f56263f67cc099676590595e62ccdddc95926 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000040.json @@ -0,0 +1,76 @@ +{ + "episode_index": 40, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Move the red block from the left hand to the pad.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 114, + "end_frame": 203, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 204, + "end_frame": 281, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000041.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000041.json new file mode 100644 index 0000000000000000000000000000000000000000..ad8936ae49028acdc2e5e9e2f8a3b531eac4ea27 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000041.json @@ -0,0 +1,76 @@ +{ + "episode_index": 41, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Move the red block from the left hand to the pad.", + "num_frames": 321, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 142, + "end_frame": 232, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 233, + "end_frame": 320, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 194, + "arm": "right", + "kind": "close", + "start_frame": 187, + "end_frame": 201 + }, + { + "frame": 216, + "arm": "left", + "kind": "open", + "start_frame": 209, + "end_frame": 223 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000042.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000042.json new file mode 100644 index 0000000000000000000000000000000000000000..f31ce5f4f118fd3a0f585245344babfdc8de0e22 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000042.json @@ -0,0 +1,76 @@ +{ + "episode_index": 42, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.", + "num_frames": 287, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 117, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 118, + "end_frame": 207, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 208, + "end_frame": 286, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 274, + "arm": "right", + "kind": "open", + "start_frame": 267, + "end_frame": 281 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000043.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000043.json new file mode 100644 index 0000000000000000000000000000000000000000..b5826a1754b7896f875505acb683546846d4f52c --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000043.json @@ -0,0 +1,76 @@ +{ + "episode_index": 43, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Set the red block on the blue pad gently.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 117, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 118, + "end_frame": 207, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 208, + "end_frame": 281, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000044.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000044.json new file mode 100644 index 0000000000000000000000000000000000000000..ef686a61a5cdfba1738beecd86f6e3edc060f277 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000044.json @@ -0,0 +1,76 @@ +{ + "episode_index": 44, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 114, + "end_frame": 203, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 204, + "end_frame": 276, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000045.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000045.json new file mode 100644 index 0000000000000000000000000000000000000000..5d14e2460ba6cba52c5b6324b1ec6c36f2738576 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000045.json @@ -0,0 +1,76 @@ +{ + "episode_index": 45, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with your left arm.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 111, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 112, + "end_frame": 201, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 202, + "end_frame": 277, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000046.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000046.json new file mode 100644 index 0000000000000000000000000000000000000000..f5965ae0196d8726f7b055e3ed86120848141ac3 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000046.json @@ -0,0 +1,76 @@ +{ + "episode_index": 46, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use left arm to grab the block and hand it to the right.", + "num_frames": 293, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 129, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 130, + "end_frame": 218, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 219, + "end_frame": 292, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 181, + "arm": "right", + "kind": "close", + "start_frame": 174, + "end_frame": 188 + }, + { + "frame": 203, + "arm": "left", + "kind": "open", + "start_frame": 196, + "end_frame": 210 + }, + { + "frame": 280, + "arm": "right", + "kind": "open", + "start_frame": 273, + "end_frame": 287 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000047.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000047.json new file mode 100644 index 0000000000000000000000000000000000000000..c3e6b94b93a872429065e7f7a3e784cd2ef3e1b3 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000047.json @@ -0,0 +1,76 @@ +{ + "episode_index": 47, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.", + "num_frames": 285, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 118, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 119, + "end_frame": 208, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 209, + "end_frame": 284, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 171, + "arm": "right", + "kind": "close", + "start_frame": 164, + "end_frame": 178 + }, + { + "frame": 193, + "arm": "left", + "kind": "open", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 272, + "arm": "right", + "kind": "open", + "start_frame": 265, + "end_frame": 279 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000048.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000048.json new file mode 100644 index 0000000000000000000000000000000000000000..f57f486c590d592fad3d0ce9d2d39dac411954e5 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000048.json @@ -0,0 +1,76 @@ +{ + "episode_index": 48, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab red block, pass to the right arm, then drop on blue pad.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 117, + "end_frame": 206, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 207, + "end_frame": 282, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000049.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000049.json new file mode 100644 index 0000000000000000000000000000000000000000..92126098ed4291c8b87fe3b566fc81308096e29d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000049.json @@ -0,0 +1,76 @@ +{ + "episode_index": 49, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 115, + "end_frame": 204, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 205, + "end_frame": 279, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000050.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000050.json new file mode 100644 index 0000000000000000000000000000000000000000..698e53e3c02deb46f1f8a8d71ba24262d4e681a1 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000050.json @@ -0,0 +1,76 @@ +{ + "episode_index": 50, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 306, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 227, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 228, + "end_frame": 305, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 190, + "arm": "right", + "kind": "close", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 212, + "arm": "left", + "kind": "open", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 293, + "arm": "right", + "kind": "open", + "start_frame": 286, + "end_frame": 300 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000051.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000051.json new file mode 100644 index 0000000000000000000000000000000000000000..bca98e7d357833d3e5893b8718a2b033f05b9571 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000051.json @@ -0,0 +1,76 @@ +{ + "episode_index": 51, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift, switch arms, and place the red block.", + "num_frames": 286, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 118, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 119, + "end_frame": 208, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 209, + "end_frame": 285, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 171, + "arm": "right", + "kind": "close", + "start_frame": 164, + "end_frame": 178 + }, + { + "frame": 193, + "arm": "left", + "kind": "open", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 273, + "arm": "right", + "kind": "open", + "start_frame": 266, + "end_frame": 280 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000052.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000052.json new file mode 100644 index 0000000000000000000000000000000000000000..0936213d32110dd0888251231d636471ee5b62c6 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000052.json @@ -0,0 +1,76 @@ +{ + "episode_index": 52, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.", + "num_frames": 287, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 121, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 122, + "end_frame": 211, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 212, + "end_frame": 286, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 174, + "arm": "right", + "kind": "close", + "start_frame": 167, + "end_frame": 181 + }, + { + "frame": 196, + "arm": "left", + "kind": "open", + "start_frame": 189, + "end_frame": 203 + }, + { + "frame": 274, + "arm": "right", + "kind": "open", + "start_frame": 267, + "end_frame": 281 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000053.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000053.json new file mode 100644 index 0000000000000000000000000000000000000000..f9d339fd876a5202f8120b2910b088767473bf23 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000053.json @@ -0,0 +1,76 @@ +{ + "episode_index": 53, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 116, + "end_frame": 204, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 205, + "end_frame": 277, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000054.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000054.json new file mode 100644 index 0000000000000000000000000000000000000000..944397eea8cc20e6e31d0de03bca1ae6976cf782 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000054.json @@ -0,0 +1,76 @@ +{ + "episode_index": 54, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 149, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 150, + "end_frame": 240, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 241, + "end_frame": 331, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 77, + "arm": "left", + "kind": "close", + "start_frame": 70, + "end_frame": 84 + }, + { + "frame": 202, + "arm": "right", + "kind": "close", + "start_frame": 195, + "end_frame": 209 + }, + { + "frame": 224, + "arm": "left", + "kind": "open", + "start_frame": 217, + "end_frame": 231 + }, + { + "frame": 319, + "arm": "right", + "kind": "open", + "start_frame": 312, + "end_frame": 326 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000055.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000055.json new file mode 100644 index 0000000000000000000000000000000000000000..a3751fcd93e0f4d5cb92f149abcc7b33a4a0ad33 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000055.json @@ -0,0 +1,76 @@ +{ + "episode_index": 55, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.", + "num_frames": 320, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 144, + "end_frame": 233, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 234, + "end_frame": 319, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 196, + "arm": "right", + "kind": "close", + "start_frame": 189, + "end_frame": 203 + }, + { + "frame": 218, + "arm": "left", + "kind": "open", + "start_frame": 211, + "end_frame": 225 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000056.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000056.json new file mode 100644 index 0000000000000000000000000000000000000000..0a60ee3d01ec59cae8ea2f62612316560a4c49a8 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000056.json @@ -0,0 +1,76 @@ +{ + "episode_index": 56, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use your arms to shift the red block.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 116, + "end_frame": 204, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 205, + "end_frame": 278, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000057.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000057.json new file mode 100644 index 0000000000000000000000000000000000000000..cb254c0ff81380bb4f2a516a9ec89b8b703d4dd6 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000057.json @@ -0,0 +1,76 @@ +{ + "episode_index": 57, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 116, + "end_frame": 205, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 206, + "end_frame": 279, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000058.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000058.json new file mode 100644 index 0000000000000000000000000000000000000000..da695d83f910ca0a02434a966b8dbb4787a11c8c --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000058.json @@ -0,0 +1,76 @@ +{ + "episode_index": 58, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 114, + "end_frame": 202, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 203, + "end_frame": 275, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000059.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000059.json new file mode 100644 index 0000000000000000000000000000000000000000..c027044921c41a650eff5cf4bbf80e020cb97f5c --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000059.json @@ -0,0 +1,76 @@ +{ + "episode_index": 59, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use left arm to grab the block and hand it to the right.", + "num_frames": 288, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 120, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 121, + "end_frame": 210, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 211, + "end_frame": 287, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 173, + "arm": "right", + "kind": "close", + "start_frame": 166, + "end_frame": 180 + }, + { + "frame": 195, + "arm": "left", + "kind": "open", + "start_frame": 188, + "end_frame": 202 + }, + { + "frame": 275, + "arm": "right", + "kind": "open", + "start_frame": 268, + "end_frame": 282 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000060.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000060.json new file mode 100644 index 0000000000000000000000000000000000000000..4912ab831f82741ff7c2b0950d0555f7dee80b56 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000060.json @@ -0,0 +1,76 @@ +{ + "episode_index": 60, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hold the red block with the left arm and place it on the pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 111, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 112, + "end_frame": 202, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 203, + "end_frame": 278, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000061.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000061.json new file mode 100644 index 0000000000000000000000000000000000000000..8f1803b967d6321e7f69fae12360c84478c67425 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000061.json @@ -0,0 +1,76 @@ +{ + "episode_index": 61, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block, pass it to the right arm, then place it.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 116, + "end_frame": 205, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 206, + "end_frame": 280, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000062.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000062.json new file mode 100644 index 0000000000000000000000000000000000000000..6c61f6eed75a3174882c4dd4031d3bdf9bb824cc --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000062.json @@ -0,0 +1,76 @@ +{ + "episode_index": 62, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pass the red block from the left to the right.", + "num_frames": 284, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 119, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 120, + "end_frame": 209, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 210, + "end_frame": 283, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 172, + "arm": "right", + "kind": "close", + "start_frame": 165, + "end_frame": 179 + }, + { + "frame": 194, + "arm": "left", + "kind": "open", + "start_frame": 187, + "end_frame": 201 + }, + { + "frame": 271, + "arm": "right", + "kind": "open", + "start_frame": 264, + "end_frame": 278 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000063.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000063.json new file mode 100644 index 0000000000000000000000000000000000000000..9f8b5564088d7fec80aaa8e365fd3cd4aa2273ad --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000063.json @@ -0,0 +1,76 @@ +{ + "episode_index": 63, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use your arms to shift the red block.", + "num_frames": 286, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 117, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 118, + "end_frame": 207, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 208, + "end_frame": 285, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 273, + "arm": "right", + "kind": "open", + "start_frame": 266, + "end_frame": 280 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000064.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000064.json new file mode 100644 index 0000000000000000000000000000000000000000..20d418b9a847b1967ebe69fa7c4ffa3b1a52bfc1 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000064.json @@ -0,0 +1,76 @@ +{ + "episode_index": 64, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 116, + "end_frame": 205, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 206, + "end_frame": 280, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000065.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000065.json new file mode 100644 index 0000000000000000000000000000000000000000..76c4b9c367d846007a6f2dd9a7d2d37c26c9d989 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000065.json @@ -0,0 +1,76 @@ +{ + "episode_index": 65, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.", + "num_frames": 275, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 109, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 110, + "end_frame": 199, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 200, + "end_frame": 274, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 162, + "arm": "right", + "kind": "close", + "start_frame": 155, + "end_frame": 169 + }, + { + "frame": 184, + "arm": "left", + "kind": "open", + "start_frame": 177, + "end_frame": 191 + }, + { + "frame": 262, + "arm": "right", + "kind": "open", + "start_frame": 255, + "end_frame": 269 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000066.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000066.json new file mode 100644 index 0000000000000000000000000000000000000000..5a08be42d0c0275d402930125f4c3c81d19c24bb --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000066.json @@ -0,0 +1,76 @@ +{ + "episode_index": 66, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.", + "num_frames": 303, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 226, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 227, + "end_frame": 302, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 189, + "arm": "right", + "kind": "close", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 211, + "arm": "left", + "kind": "open", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 290, + "arm": "right", + "kind": "open", + "start_frame": 283, + "end_frame": 297 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000067.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000067.json new file mode 100644 index 0000000000000000000000000000000000000000..052263fa541f31a24980cea7ade0fdf8c5fe5e22 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000067.json @@ -0,0 +1,76 @@ +{ + "episode_index": 67, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Move the red block from the left hand to the pad.", + "num_frames": 307, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 132, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 133, + "end_frame": 222, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 223, + "end_frame": 306, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 185, + "arm": "right", + "kind": "close", + "start_frame": 178, + "end_frame": 192 + }, + { + "frame": 207, + "arm": "left", + "kind": "open", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 294, + "arm": "right", + "kind": "open", + "start_frame": 287, + "end_frame": 301 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000068.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000068.json new file mode 100644 index 0000000000000000000000000000000000000000..f8b29e2301c1fca55b195b7b3e5247404b3c2bfb --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000068.json @@ -0,0 +1,76 @@ +{ + "episode_index": 68, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block, hand it over, and place it properly.", + "num_frames": 284, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 120, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 121, + "end_frame": 209, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 210, + "end_frame": 283, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 172, + "arm": "right", + "kind": "close", + "start_frame": 165, + "end_frame": 179 + }, + { + "frame": 194, + "arm": "left", + "kind": "open", + "start_frame": 187, + "end_frame": 201 + }, + { + "frame": 271, + "arm": "right", + "kind": "open", + "start_frame": 264, + "end_frame": 278 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000069.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000069.json new file mode 100644 index 0000000000000000000000000000000000000000..f8ed19638cf4627a727dca3e2f52044dbd79816e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000069.json @@ -0,0 +1,76 @@ +{ + "episode_index": 69, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Move the red block from the left hand to the pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 112, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 113, + "end_frame": 202, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 203, + "end_frame": 277, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000070.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000070.json new file mode 100644 index 0000000000000000000000000000000000000000..f00eb1e6f92415449a9debb83145fe7cdf3a68e0 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000070.json @@ -0,0 +1,76 @@ +{ + "episode_index": 70, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block and transfer to the right.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 115, + "end_frame": 203, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 204, + "end_frame": 277, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000071.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000071.json new file mode 100644 index 0000000000000000000000000000000000000000..d64875b58f3499cd5876f20505526398dba038cd --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000071.json @@ -0,0 +1,76 @@ +{ + "episode_index": 71, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block with the left hand and pass it.", + "num_frames": 274, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 109, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 110, + "end_frame": 199, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 200, + "end_frame": 273, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 162, + "arm": "right", + "kind": "close", + "start_frame": 155, + "end_frame": 169 + }, + { + "frame": 184, + "arm": "left", + "kind": "open", + "start_frame": 177, + "end_frame": 191 + }, + { + "frame": 261, + "arm": "right", + "kind": "open", + "start_frame": 254, + "end_frame": 268 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000072.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000072.json new file mode 100644 index 0000000000000000000000000000000000000000..818b38fa020a9ce168e2788bf77c9a2bc03ff141 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000072.json @@ -0,0 +1,76 @@ +{ + "episode_index": 72, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use left arm to grab the red block and place it on the pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 115, + "end_frame": 203, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 204, + "end_frame": 277, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000073.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000073.json new file mode 100644 index 0000000000000000000000000000000000000000..8096bac9895f845b13e3576864080fd24ec268a1 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000073.json @@ -0,0 +1,76 @@ +{ + "episode_index": 73, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Set the red block on the blue pad gently.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 115, + "end_frame": 204, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 205, + "end_frame": 278, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000074.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000074.json new file mode 100644 index 0000000000000000000000000000000000000000..d3fb25aa3b4cd459a429241652ea185126b0363a --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000074.json @@ -0,0 +1,76 @@ +{ + "episode_index": 74, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 117, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 118, + "end_frame": 207, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 208, + "end_frame": 282, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000075.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000075.json new file mode 100644 index 0000000000000000000000000000000000000000..459fdc5b0f23df3110f85ad527d3576208c1572d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000075.json @@ -0,0 +1,76 @@ +{ + "episode_index": 75, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.", + "num_frames": 289, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 123, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 124, + "end_frame": 213, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 214, + "end_frame": 288, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 176, + "arm": "right", + "kind": "close", + "start_frame": 169, + "end_frame": 183 + }, + { + "frame": 198, + "arm": "left", + "kind": "open", + "start_frame": 191, + "end_frame": 205 + }, + { + "frame": 276, + "arm": "right", + "kind": "open", + "start_frame": 269, + "end_frame": 283 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000076.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000076.json new file mode 100644 index 0000000000000000000000000000000000000000..fbeacfa3f3f93046638084210f0f7e509cbd1f82 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000076.json @@ -0,0 +1,76 @@ +{ + "episode_index": 76, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift, switch arms, and place the red block.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 116, + "end_frame": 205, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 206, + "end_frame": 281, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000077.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000077.json new file mode 100644 index 0000000000000000000000000000000000000000..6af1beab7c45fe93e31f690628e2ebafaf73c1b5 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000077.json @@ -0,0 +1,76 @@ +{ + "episode_index": 77, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block with the left arm and transfer to the right.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 112, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": 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"end_frame": 274 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000078.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000078.json new file mode 100644 index 0000000000000000000000000000000000000000..e422a42ec2d379975fb720119aaeaf89d93b6ce8 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000078.json @@ -0,0 +1,76 @@ +{ + "episode_index": 78, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Place the red block on the blue pad.", + "num_frames": 284, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 118, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 119, + "end_frame": 208, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 209, + "end_frame": 283, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 171, + "arm": "right", + "kind": "close", + "start_frame": 164, + "end_frame": 178 + }, + { + "frame": 193, + "arm": "left", + "kind": "open", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 271, + "arm": "right", + "kind": "open", + "start_frame": 264, + "end_frame": 278 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000079.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000079.json new file mode 100644 index 0000000000000000000000000000000000000000..29bd8f69908f68f9d8a3ec5484f7dca88ccd9a34 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000079.json @@ -0,0 +1,76 @@ +{ + "episode_index": 79, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block using the left arm and hand it over.", 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"episode_index": 80, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 114, + "end_frame": 203, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 204, + "end_frame": 278, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000081.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000081.json new file mode 100644 index 0000000000000000000000000000000000000000..b0f2c219645fbbcd9c2f0f6e1fba083fa60539bb --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000081.json @@ -0,0 +1,76 @@ +{ + "episode_index": 81, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Move the red block from the left hand to the pad.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 109, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 110, + "end_frame": 198, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 199, + "end_frame": 275, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 161, + "arm": "right", + "kind": "close", + "start_frame": 154, + "end_frame": 168 + }, + { + "frame": 183, + "arm": "left", + "kind": "open", + "start_frame": 176, + "end_frame": 190 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000082.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000082.json new file mode 100644 index 0000000000000000000000000000000000000000..b0cedcd0b9a7a3cf8961b4cee931d93a9d44b753 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000082.json @@ -0,0 +1,76 @@ +{ + "episode_index": 82, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 111, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 112, + "end_frame": 201, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 202, + "end_frame": 277, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000083.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000083.json new file mode 100644 index 0000000000000000000000000000000000000000..90f57a7c70efbaaa0d69be439a624542aa9dc3e3 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000083.json @@ -0,0 +1,76 @@ +{ + "episode_index": 83, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hold the red block with the left arm and place it on the pad.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 110, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 111, + "end_frame": 200, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 201, + "end_frame": 275, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 163, + "arm": "right", + "kind": "close", + "start_frame": 156, + "end_frame": 170 + }, + { + "frame": 185, + "arm": "left", + "kind": "open", + "start_frame": 178, + "end_frame": 192 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000084.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000084.json new file mode 100644 index 0000000000000000000000000000000000000000..a9019bb3c2081964f547a6c5807033d1e673d2c3 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000084.json @@ -0,0 +1,76 @@ +{ + "episode_index": 84, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block with the left hand and pass it.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 117, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 118, + "end_frame": 207, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 208, + "end_frame": 282, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000085.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000085.json new file mode 100644 index 0000000000000000000000000000000000000000..577b6065dfac83ee77dec5468560cbd10dc50f6b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000085.json @@ -0,0 +1,76 @@ +{ + "episode_index": 85, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block, pass it to the right arm, then place it.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 111, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 112, + "end_frame": 201, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 202, + "end_frame": 276, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000086.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000086.json new file mode 100644 index 0000000000000000000000000000000000000000..b48d95740cd1eb58b78f28c276e1d20e0e610072 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000086.json @@ -0,0 +1,76 @@ +{ + "episode_index": 86, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 149, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 150, + "end_frame": 240, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 241, + "end_frame": 328, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 73, + "arm": "left", + "kind": "close", + "start_frame": 66, + "end_frame": 80 + }, + { + "frame": 202, + "arm": "right", + "kind": "close", + "start_frame": 195, + "end_frame": 209 + }, + { + "frame": 224, + "arm": "left", + "kind": "open", + "start_frame": 217, + "end_frame": 231 + }, + { + "frame": 316, + "arm": "right", + "kind": "open", + "start_frame": 309, + "end_frame": 323 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000087.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000087.json new file mode 100644 index 0000000000000000000000000000000000000000..171f0e921ac7057dd32698c01b90e7ac2813b836 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000087.json @@ -0,0 +1,76 @@ +{ + "episode_index": 87, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hold the red block, transfer to the right arm, then set it down.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 110, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 111, + "end_frame": 200, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 201, + "end_frame": 276, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 163, + "arm": "right", + "kind": "close", + "start_frame": 156, + "end_frame": 170 + }, + { + "frame": 185, + "arm": "left", + "kind": "open", + "start_frame": 178, + "end_frame": 192 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000088.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000088.json new file mode 100644 index 0000000000000000000000000000000000000000..5f071fc703588d8615cd76cf93fbc6ee31f484a4 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000088.json @@ -0,0 +1,76 @@ +{ + "episode_index": 88, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "The left arm should grab the red block, hand it to the right, and put it on the blue pad.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 118, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 119, + "end_frame": 208, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 209, + "end_frame": 282, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 171, + "arm": "right", + "kind": "close", + "start_frame": 164, + "end_frame": 178 + }, + { + "frame": 193, + "arm": "left", + "kind": "open", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000089.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000089.json new file mode 100644 index 0000000000000000000000000000000000000000..2d7da92835487292925d1b386ceabfd933233e33 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000089.json @@ -0,0 +1,76 @@ +{ + "episode_index": 89, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 115, + "end_frame": 204, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 205, + "end_frame": 279, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000090.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000090.json new file mode 100644 index 0000000000000000000000000000000000000000..04f66346fa025a9c91fd114ff8e471c8f0e94759 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000090.json @@ -0,0 +1,76 @@ +{ + "episode_index": 90, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 290, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 122, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 123, + "end_frame": 212, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 213, + "end_frame": 289, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 175, + "arm": "right", + "kind": "close", + "start_frame": 168, + "end_frame": 182 + }, + { + "frame": 197, + "arm": "left", + "kind": "open", + "start_frame": 190, + "end_frame": 204 + }, + { + "frame": 277, + "arm": "right", + "kind": "open", + "start_frame": 270, + "end_frame": 284 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000091.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000091.json new file mode 100644 index 0000000000000000000000000000000000000000..5d89d69aa16d9297b3eaf1bbd10ec91c6e743cc3 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000091.json @@ -0,0 +1,76 @@ +{ + "episode_index": 91, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Set the red block on the blue pad gently.", + "num_frames": 287, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 122, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 123, + "end_frame": 212, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 213, + "end_frame": 286, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 175, + "arm": "right", + "kind": "close", + "start_frame": 168, + "end_frame": 182 + }, + { + "frame": 197, + "arm": "left", + "kind": "open", + "start_frame": 190, + "end_frame": 204 + }, + { + "frame": 274, + "arm": "right", + "kind": "open", + "start_frame": 267, + "end_frame": 281 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000092.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000092.json new file mode 100644 index 0000000000000000000000000000000000000000..edb5ded67859cad349b0e6a15196b3695cc6bd62 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000092.json @@ -0,0 +1,76 @@ +{ + "episode_index": 92, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 114, + "end_frame": 203, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 204, + "end_frame": 277, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000093.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000093.json new file mode 100644 index 0000000000000000000000000000000000000000..92b2a0ffc148ea779480f47692124e77eb3b1e7a --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000093.json @@ -0,0 +1,76 @@ +{ + "episode_index": 93, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grip the red block with the left arm and transfer it.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 117, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 118, + "end_frame": 207, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 208, + "end_frame": 281, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000094.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000094.json new file mode 100644 index 0000000000000000000000000000000000000000..bb181eb303bdc77f987aa986149ef5a02eeaa23b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000094.json @@ -0,0 +1,76 @@ +{ + "episode_index": 94, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Set the red block on the blue pad gently.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 111, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 112, + "end_frame": 201, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 202, + "end_frame": 277, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000095.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000095.json new file mode 100644 index 0000000000000000000000000000000000000000..d1e7bf277b4c95ef66c226c5134e824cef9a0a6f --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000095.json @@ -0,0 +1,76 @@ +{ + "episode_index": 95, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 111, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 112, + "end_frame": 201, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 202, + "end_frame": 275, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000096.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000096.json new file mode 100644 index 0000000000000000000000000000000000000000..550e5317699004d219ceb7f95105c53c33c42067 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000096.json @@ -0,0 +1,76 @@ +{ + "episode_index": 96, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block and transfer to the right.", + "num_frames": 290, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 124, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 125, + "end_frame": 214, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 215, + "end_frame": 289, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 177, + "arm": "right", + "kind": "close", + "start_frame": 170, + "end_frame": 184 + }, + { + "frame": 199, + "arm": "left", + "kind": "open", + "start_frame": 192, + "end_frame": 206 + }, + { + "frame": 277, + "arm": "right", + "kind": "open", + "start_frame": 270, + "end_frame": 284 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000097.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000097.json new file mode 100644 index 0000000000000000000000000000000000000000..03631deed92838f3313d360e87a86e0c09477cd5 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000097.json @@ -0,0 +1,76 @@ +{ + "episode_index": 97, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.", + "num_frames": 321, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 144, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 145, + "end_frame": 234, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 235, + "end_frame": 320, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 197, + "arm": "right", + "kind": "close", + "start_frame": 190, + "end_frame": 204 + }, + { + "frame": 219, + "arm": "left", + "kind": "open", + "start_frame": 212, + "end_frame": 226 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000098.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000098.json new file mode 100644 index 0000000000000000000000000000000000000000..9540fc5655e1a0ce1fbd36d7e465efc869d5f084 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000098.json @@ -0,0 +1,76 @@ +{ + "episode_index": 98, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.", + "num_frames": 287, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 122, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 123, + "end_frame": 212, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 213, + "end_frame": 286, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 175, + "arm": "right", + "kind": "close", + "start_frame": 168, + "end_frame": 182 + }, + { + "frame": 197, + "arm": "left", + "kind": "open", + "start_frame": 190, + "end_frame": 204 + }, + { + "frame": 274, + "arm": "right", + "kind": "open", + "start_frame": 267, + "end_frame": 281 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000099.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000099.json new file mode 100644 index 0000000000000000000000000000000000000000..8c6a18641bc7ea47bcc572e6350fd10028c005b1 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000099.json @@ -0,0 +1,76 @@ +{ + "episode_index": 99, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 114, + "end_frame": 203, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 204, + "end_frame": 276, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000100.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000100.json new file mode 100644 index 0000000000000000000000000000000000000000..14759af08ca7b42a893fb945b7402dc333214846 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000100.json @@ -0,0 +1,76 @@ +{ + "episode_index": 100, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 112, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 113, + "end_frame": 201, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 202, + "end_frame": 276, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000101.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000101.json new file mode 100644 index 0000000000000000000000000000000000000000..d3a33df3188587c78facc08b7c76779ad177ff0c --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000101.json @@ -0,0 +1,76 @@ +{ + "episode_index": 101, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.", + "num_frames": 287, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 122, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 123, + "end_frame": 212, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 213, + "end_frame": 286, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 175, + "arm": "right", + "kind": "close", + "start_frame": 168, + "end_frame": 182 + }, + { + "frame": 197, + "arm": "left", + "kind": "open", + "start_frame": 190, + "end_frame": 204 + }, + { + "frame": 274, + "arm": "right", + "kind": "open", + "start_frame": 267, + "end_frame": 281 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000102.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000102.json new file mode 100644 index 0000000000000000000000000000000000000000..1af04dc5299e962f51f2e466e36d36fd56b47716 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000102.json @@ -0,0 +1,76 @@ +{ + "episode_index": 102, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hold the red block with the left arm and place it on the pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 112, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 113, + "end_frame": 203, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 204, + "end_frame": 279, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually 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b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000103.json @@ -0,0 +1,76 @@ +{ + "episode_index": 103, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block, pass it to the right arm, and drop it.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 112, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 113, + "end_frame": 201, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 202, + "end_frame": 277, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000104.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000104.json new file mode 100644 index 0000000000000000000000000000000000000000..31ff875a31990c0b3e5518512cea06e36b9a3039 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000104.json @@ -0,0 +1,76 @@ +{ + "episode_index": 104, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 111, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 112, + "end_frame": 201, + 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"source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000105.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000105.json new file mode 100644 index 0000000000000000000000000000000000000000..0c9e05ab2519ecd03b1fc093c3326d273314f8c1 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000105.json @@ -0,0 +1,76 @@ +{ + "episode_index": 105, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + 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+{ + "episode_index": 107, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 114, + "end_frame": 203, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 204, + "end_frame": 278, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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index 0000000000000000000000000000000000000000..d5badc6b032bb026e88e5b128a156d5cea2449e5 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000108.json @@ -0,0 +1,76 @@ +{ + "episode_index": 108, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block and move it to the pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 114, + "end_frame": 203, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 204, + "end_frame": 279, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000109.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000109.json new file mode 100644 index 0000000000000000000000000000000000000000..68c4d7910ec8ca76833692ef8e1105be6403165d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000109.json @@ -0,0 +1,76 @@ +{ + "episode_index": 109, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other 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"start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000110.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000110.json new file mode 100644 index 0000000000000000000000000000000000000000..7a1dfc383712f797eb0ba7095da4f92aead0a850 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000110.json @@ -0,0 +1,76 @@ +{ + "episode_index": 110, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Move the red block from the left hand to the pad.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 118, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 119, + "end_frame": 208, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 209, + "end_frame": 282, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 171, + "arm": "right", + "kind": "close", + "start_frame": 164, + "end_frame": 178 + }, + { + "frame": 193, + "arm": "left", + "kind": "open", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000111.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000111.json new file mode 100644 index 0000000000000000000000000000000000000000..535b9bc2e0dd65cfb170faea33c81f0bfbe9b709 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000111.json @@ -0,0 +1,76 @@ +{ + "episode_index": 111, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block with the 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b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000112.json @@ -0,0 +1,76 @@ +{ + "episode_index": 112, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hold the red block with the left arm and place it on the pad.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 117, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 118, + "end_frame": 206, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 207, + "end_frame": 281, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000113.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000113.json new file mode 100644 index 0000000000000000000000000000000000000000..267ac776287d3c5709d83ae615c098a6a2c2e87f --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000113.json @@ -0,0 +1,76 @@ +{ + "episode_index": 113, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grip the red block with the left arm and transfer it.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 112, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 113, + "end_frame": 202, + "boundary_source": "atomic_4_6", + "truncation_rule": 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"source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000114.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000114.json new file mode 100644 index 0000000000000000000000000000000000000000..477bb379f25ba0e0dc66a27ee6574038a8d0ddec --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000114.json @@ -0,0 +1,76 @@ +{ + "episode_index": 114, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pass the red block from the left to the right.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 117, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + 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"frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000115.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000115.json new file mode 100644 index 0000000000000000000000000000000000000000..80d456976b3db3bfd25a3609d0c38868ff0ec551 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000115.json @@ -0,0 +1,76 @@ +{ + "episode_index": 115, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.", + "num_frames": 277, + "subtasks": [ + { + 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48, + "end_frame": 62 + }, + { + "frame": 163, + "arm": "right", + "kind": "close", + "start_frame": 156, + "end_frame": 170 + }, + { + "frame": 185, + "arm": "left", + "kind": "open", + "start_frame": 178, + "end_frame": 192 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000116.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000116.json new file mode 100644 index 0000000000000000000000000000000000000000..bd55bae9e041617cbb43650dc329a1e879f89d55 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000116.json @@ -0,0 +1,76 @@ +{ + "episode_index": 116, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block, transfer it, and set it on blue.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 116, + "end_frame": 205, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 206, + "end_frame": 280, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000117.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000117.json new file mode 100644 index 0000000000000000000000000000000000000000..23d35ee6dd6bb12d5e7c5844a9fa22c21c33b874 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000117.json @@ -0,0 +1,76 @@ +{ + "episode_index": 117, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.", + "num_frames": 285, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 118, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 119, + "end_frame": 208, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block 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a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000118.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000118.json new file mode 100644 index 0000000000000000000000000000000000000000..2ed7ad58aa10c5041d9ecd0fc8815644e4a2b95e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000118.json @@ -0,0 +1,76 @@ +{ + "episode_index": 118, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to 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"start_frame": 0, + "end_frame": 124, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 125, + "end_frame": 214, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 215, + "end_frame": 289, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 177, + "arm": "right", + "kind": "close", + "start_frame": 170, + "end_frame": 184 + }, + { + "frame": 199, + "arm": "left", + "kind": "open", + "start_frame": 192, + "end_frame": 206 + }, + { + "frame": 277, + "arm": "right", + "kind": "open", + "start_frame": 270, + "end_frame": 284 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000120.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000120.json new file mode 100644 index 0000000000000000000000000000000000000000..59fd616fa44ec295f7d373350809eea99ecd6f85 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000120.json @@ -0,0 +1,76 @@ +{ + "episode_index": 120, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take 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"detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000121.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000121.json new file mode 100644 index 0000000000000000000000000000000000000000..f9dccc1768bc3438da21ad7fa493fe1b801c4f09 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000121.json @@ -0,0 +1,76 @@ +{ + "episode_index": 121, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block, pass it to the right arm, then place it.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 114, + "end_frame": 202, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 203, + "end_frame": 276, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000122.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000122.json new file mode 100644 index 0000000000000000000000000000000000000000..4f99856ab9ba40ead6eb0924fad55f50bc64cb2c --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000122.json @@ -0,0 +1,76 @@ +{ + "episode_index": 122, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 114, + "end_frame": 203, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 204, + "end_frame": 278, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000123.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000123.json new file mode 100644 index 0000000000000000000000000000000000000000..c578e1850324791091097c4d71b2c303cad17dd7 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000123.json @@ -0,0 +1,76 @@ +{ + "episode_index": 123, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.", + "num_frames": 290, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 120, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 121, + "end_frame": 210, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 211, + "end_frame": 289, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 173, + "arm": "right", + "kind": "close", + "start_frame": 166, + "end_frame": 180 + }, + { + "frame": 195, + "arm": "left", + "kind": "open", + "start_frame": 188, + "end_frame": 202 + }, + { + "frame": 277, + "arm": "right", + "kind": "open", + "start_frame": 270, + "end_frame": 284 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000124.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000124.json new file mode 100644 index 0000000000000000000000000000000000000000..5214e232a6f4c062a8d2afb66cb556f9d654545d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000124.json @@ -0,0 +1,76 @@ +{ + "episode_index": 124, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grip the red block with the left arm and transfer it.", + "num_frames": 298, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 128, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 129, + "end_frame": 218, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 219, + "end_frame": 297, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 181, + "arm": "right", + "kind": "close", + "start_frame": 174, + "end_frame": 188 + }, + { + "frame": 203, + "arm": "left", + "kind": "open", + "start_frame": 196, + "end_frame": 210 + }, + { + "frame": 285, + "arm": "right", + "kind": "open", + "start_frame": 278, + "end_frame": 292 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000125.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000125.json new file mode 100644 index 0000000000000000000000000000000000000000..d6fafa1a5b3b1176934044113e4e3bc1b5f3cd0b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000125.json @@ -0,0 +1,76 @@ +{ + "episode_index": 125, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Move the red block from the left hand to the pad.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 115, + "end_frame": 204, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 205, + "end_frame": 281, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000126.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000126.json new file mode 100644 index 0000000000000000000000000000000000000000..570a78a236ecb48d11bb5dfc82f2e783e5ac2959 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000126.json @@ -0,0 +1,76 @@ +{ + "episode_index": 126, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Place the red block onto the blue pad using the right arm.", + "num_frames": 291, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 124, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 125, + "end_frame": 214, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 215, + "end_frame": 290, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 177, + "arm": "right", + "kind": "close", + "start_frame": 170, + "end_frame": 184 + }, + { + "frame": 199, + "arm": "left", + "kind": "open", + "start_frame": 192, + "end_frame": 206 + }, + { + "frame": 278, + "arm": "right", + "kind": "open", + "start_frame": 271, + "end_frame": 285 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000127.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000127.json new file mode 100644 index 0000000000000000000000000000000000000000..0e571785636465dd15445902c6107ff7ba99c567 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000127.json @@ -0,0 +1,76 @@ +{ + "episode_index": 127, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 111, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block 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"open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000128.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000128.json new file mode 100644 index 0000000000000000000000000000000000000000..152787350f0d7ba6120af95233518a2a45932f3c --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000128.json @@ -0,0 +1,76 @@ +{ + "episode_index": 128, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the 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"arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000129.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000129.json new file mode 100644 index 0000000000000000000000000000000000000000..33e2380f22a0a3081ca5933949720aba905ffc1c --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000129.json @@ -0,0 +1,76 @@ +{ + "episode_index": 129, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.", + "num_frames": 315, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 144, + "end_frame": 234, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 235, + "end_frame": 314, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 196, + "arm": "right", + "kind": "close", + "start_frame": 189, + "end_frame": 203 + }, + { + "frame": 218, + "arm": "left", + "kind": "open", + "start_frame": 211, + "end_frame": 225 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000130.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000130.json new file mode 100644 index 0000000000000000000000000000000000000000..fdf2196ed73530892e307503ef35e43bbcd4b5de --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000130.json @@ -0,0 +1,76 @@ +{ + "episode_index": 130, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.", + "num_frames": 294, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 126, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 127, + "end_frame": 216, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 217, + "end_frame": 293, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 179, + "arm": "right", + "kind": "close", + "start_frame": 172, + "end_frame": 186 + }, + { + "frame": 201, + "arm": "left", + "kind": "open", + "start_frame": 194, + "end_frame": 208 + }, + { + "frame": 281, + "arm": "right", + "kind": "open", + "start_frame": 274, + "end_frame": 288 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000131.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000131.json new file mode 100644 index 0000000000000000000000000000000000000000..76a6b8bd2a2543e2643e6aed86aa94bc0e579814 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000131.json @@ -0,0 +1,76 @@ +{ + "episode_index": 131, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other 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"start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000132.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000132.json new file mode 100644 index 0000000000000000000000000000000000000000..5b6be9a3d7f9751b55db8135c403a52330433cba --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000132.json @@ -0,0 +1,76 @@ +{ + "episode_index": 132, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Place the red block onto the blue pad using the right arm.", + "num_frames": 293, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 127, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 128, + "end_frame": 217, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 218, + "end_frame": 292, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 180, + "arm": "right", + "kind": "close", + "start_frame": 173, + "end_frame": 187 + }, + { + "frame": 202, + "arm": "left", + "kind": "open", + "start_frame": 195, + "end_frame": 209 + }, + { + "frame": 280, + "arm": "right", + "kind": "open", + "start_frame": 273, + "end_frame": 287 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000133.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000133.json new file mode 100644 index 0000000000000000000000000000000000000000..919bf460f98623b56ff5803e8d128e0f672639c5 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000133.json @@ -0,0 +1,76 @@ +{ + "episode_index": 133, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Move the red block using the left arm.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 114, + "end_frame": 203, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 204, + "end_frame": 276, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000134.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000134.json new file mode 100644 index 0000000000000000000000000000000000000000..62a49e8942de44633bd1b74621f0b1ad99612d7e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000134.json @@ -0,0 +1,76 @@ +{ + "episode_index": 134, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 112, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 113, + "end_frame": 202, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 203, + "end_frame": 279, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000135.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000135.json new file mode 100644 index 0000000000000000000000000000000000000000..7f227d236f40033f42b0cc0865a22895665ee40b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000135.json @@ -0,0 +1,76 @@ +{ + "episode_index": 135, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift, switch arms, and place the red block.", + "num_frames": 284, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 117, + "end_frame": 206, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 207, + "end_frame": 283, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 271, + "arm": "right", + "kind": "open", + "start_frame": 264, + "end_frame": 278 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000136.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000136.json new file mode 100644 index 0000000000000000000000000000000000000000..da9631e122e58da580ccf9d32e06c505fb701d1b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000136.json @@ -0,0 +1,76 @@ +{ + "episode_index": 136, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the block with the left arm, pass it to the right arm.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 111, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 112, + "end_frame": 201, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 202, + "end_frame": 276, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000137.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000137.json new file mode 100644 index 0000000000000000000000000000000000000000..7dc7edd09ef7bc4ca95ec8209cccbe4182da98c8 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000137.json @@ -0,0 +1,76 @@ +{ + "episode_index": 137, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.", + "num_frames": 294, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 127, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 128, + "end_frame": 217, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 218, + "end_frame": 293, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 180, + "arm": "right", + "kind": "close", + "start_frame": 173, + "end_frame": 187 + }, + { + "frame": 202, + "arm": "left", + "kind": "open", + "start_frame": 195, + "end_frame": 209 + }, + { + "frame": 281, + "arm": "right", + "kind": "open", + "start_frame": 274, + "end_frame": 288 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000138.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000138.json new file mode 100644 index 0000000000000000000000000000000000000000..6c20f7f07dfcd737f5ecd13b0628292be37024e0 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000138.json @@ -0,0 +1,76 @@ +{ + "episode_index": 138, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hold the red block, transfer to the right arm, then set it down.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 117, + "end_frame": 206, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 207, + "end_frame": 281, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000139.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000139.json new file mode 100644 index 0000000000000000000000000000000000000000..845125c3cd409435db0478f9937f095e4084ae2c --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000139.json @@ -0,0 +1,76 @@ +{ + "episode_index": 139, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 284, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 118, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 119, + "end_frame": 208, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": 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"2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000140.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000140.json new file mode 100644 index 0000000000000000000000000000000000000000..466112c64fc6d29a061b44f174ed908c9cac1f13 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000140.json @@ -0,0 +1,76 @@ +{ + "episode_index": 140, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.", + "num_frames": 292, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 127, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the 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"kind": "open", + "start_frame": 272, + "end_frame": 286 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000141.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000141.json new file mode 100644 index 0000000000000000000000000000000000000000..f64392300ecc643be61f6facdb8f4b85cfd2d94a --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000141.json @@ -0,0 +1,76 @@ +{ + "episode_index": 141, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block, pass it to the right arm, then place it.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": 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+ "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000142.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000142.json new file mode 100644 index 0000000000000000000000000000000000000000..8d607cd4f2c843777c59a9665f12b486d7a09de6 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000142.json @@ -0,0 +1,76 @@ +{ + "episode_index": 142, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab 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"detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000143.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000143.json new file mode 100644 index 0000000000000000000000000000000000000000..b24f24995ca3c9c5479a4d4888597578255436ce --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000143.json @@ -0,0 +1,76 @@ +{ + "episode_index": 143, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 114, + "end_frame": 203, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 204, + "end_frame": 279, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000144.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000144.json new file mode 100644 index 0000000000000000000000000000000000000000..30fef9107285403506efb9433e3b460954649f7c --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000144.json @@ -0,0 +1,76 @@ +{ + "episode_index": 144, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 114, + "end_frame": 203, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 204, + "end_frame": 278, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000145.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000145.json new file mode 100644 index 0000000000000000000000000000000000000000..0283d11f7d3e895569425c356734fc3db110ea81 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000145.json @@ -0,0 +1,76 @@ +{ + "episode_index": 145, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift, switch arms, and place the red block.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 116, + "end_frame": 205, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 206, + "end_frame": 280, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000146.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000146.json new file mode 100644 index 0000000000000000000000000000000000000000..e3538ad3fd9e9f057b1a3bc2c1ddebec258a6e19 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000146.json @@ -0,0 +1,76 @@ +{ + "episode_index": 146, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Place the red block onto the blue pad using the right arm.", + "num_frames": 285, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 118, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 119, + "end_frame": 208, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 209, + "end_frame": 284, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 171, + "arm": "right", + "kind": "close", + "start_frame": 164, + "end_frame": 178 + }, + { + "frame": 193, + "arm": "left", + "kind": "open", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 272, + "arm": "right", + "kind": "open", + "start_frame": 265, + "end_frame": 279 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000147.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000147.json new file mode 100644 index 0000000000000000000000000000000000000000..7145b6e81567dbbad7533294f519dd453fd6ceae --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000147.json @@ -0,0 +1,76 @@ +{ + "episode_index": 147, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use left arm to grab the red block and place it on the pad.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 117, + "end_frame": 207, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 208, + "end_frame": 282, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000148.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000148.json new file mode 100644 index 0000000000000000000000000000000000000000..52cf5ce1c3577d1289c78d6be61b607a3fc702b1 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000148.json @@ -0,0 +1,76 @@ +{ + "episode_index": 148, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift, switch arms, and place the red block.", + "num_frames": 289, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 118, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 119, + "end_frame": 208, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 209, + "end_frame": 288, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 171, + "arm": "right", + "kind": "close", + "start_frame": 164, + "end_frame": 178 + }, + { + "frame": 193, + "arm": "left", + "kind": "open", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 276, + "arm": "right", + "kind": "open", + "start_frame": 269, + "end_frame": 283 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000149.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000149.json new file mode 100644 index 0000000000000000000000000000000000000000..85fde24a12b1413210154bc259d1048e018eb0c2 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000149.json @@ -0,0 +1,76 @@ +{ + "episode_index": 149, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 114, + "end_frame": 203, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 204, + "end_frame": 278, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000150.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000150.json new file mode 100644 index 0000000000000000000000000000000000000000..00959cc96457094d6232405fe1fcba1f3b876735 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000150.json @@ -0,0 +1,76 @@ +{ + "episode_index": 150, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 114, + "end_frame": 203, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 204, + "end_frame": 277, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000151.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000151.json new file mode 100644 index 0000000000000000000000000000000000000000..29be20dbbc351ac83e76b7d862f2a833f98c700d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000151.json @@ -0,0 +1,76 @@ +{ + "episode_index": 151, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with your left arm.", + "num_frames": 287, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 120, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 121, + "end_frame": 210, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 211, + "end_frame": 286, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 173, + "arm": "right", + "kind": "close", + "start_frame": 166, + "end_frame": 180 + }, + { + "frame": 195, + "arm": "left", + "kind": "open", + "start_frame": 188, + "end_frame": 202 + }, + { + "frame": 274, + "arm": "right", + "kind": "open", + "start_frame": 267, + "end_frame": 281 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000152.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000152.json new file mode 100644 index 0000000000000000000000000000000000000000..3907f7bb218bed12eadd5f8aca3a56978962d725 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000152.json @@ -0,0 +1,76 @@ +{ + "episode_index": 152, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block using the left arm and hand it over.", + "num_frames": 284, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 119, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 120, + "end_frame": 209, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 210, + "end_frame": 283, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 172, + "arm": "right", + "kind": "close", + "start_frame": 165, + "end_frame": 179 + }, + { + "frame": 194, + "arm": "left", + "kind": "open", + "start_frame": 187, + "end_frame": 201 + }, + { + "frame": 271, + "arm": "right", + "kind": "open", + "start_frame": 264, + "end_frame": 278 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000153.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000153.json new file mode 100644 index 0000000000000000000000000000000000000000..9c63e56669a25d6c42b4ccd44c70cac7f04ac4ac --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000153.json @@ -0,0 +1,76 @@ +{ + "episode_index": 153, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block using the left arm and hand it over.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 110, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 111, + "end_frame": 200, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 201, + "end_frame": 276, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 163, + "arm": "right", + "kind": "close", + "start_frame": 156, + "end_frame": 170 + }, + { + "frame": 185, + "arm": "left", + "kind": "open", + "start_frame": 178, + "end_frame": 192 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000154.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000154.json new file mode 100644 index 0000000000000000000000000000000000000000..a4ff10e71d87ce37780c964019fce5b670c40fc2 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000154.json @@ -0,0 +1,76 @@ +{ + "episode_index": 154, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.", + "num_frames": 286, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 117, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 118, + "end_frame": 207, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 208, + "end_frame": 285, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 273, + "arm": "right", + "kind": "open", + "start_frame": 266, + "end_frame": 280 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000155.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000155.json new file mode 100644 index 0000000000000000000000000000000000000000..9fddf8e26fe58c962cf86e39bfb7b774e0e99c6b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000155.json @@ -0,0 +1,76 @@ +{ + "episode_index": 155, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.", + "num_frames": 307, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 142, + "end_frame": 231, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 232, + "end_frame": 306, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 194, + "arm": "right", + "kind": "close", + "start_frame": 187, + "end_frame": 201 + }, + { + "frame": 216, + "arm": "left", + "kind": "open", + "start_frame": 209, + "end_frame": 223 + }, + { + "frame": 294, + "arm": "right", + "kind": "open", + "start_frame": 287, + "end_frame": 301 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000156.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000156.json new file mode 100644 index 0000000000000000000000000000000000000000..ef15727b9ebfd6f6a15ed8e9217dbe95f98fbf4a --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000156.json @@ -0,0 +1,76 @@ +{ + "episode_index": 156, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use left arm to grab the red block and place it on the pad.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 151, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 152, + "end_frame": 242, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 243, + "end_frame": 329, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 76, + "arm": "left", + "kind": "close", + "start_frame": 69, + "end_frame": 83 + }, + { + "frame": 204, + "arm": "right", + "kind": "close", + "start_frame": 197, + "end_frame": 211 + }, + { + "frame": 226, + "arm": "left", + "kind": "open", + "start_frame": 219, + "end_frame": 233 + }, + { + "frame": 317, + "arm": "right", + "kind": "open", + "start_frame": 310, + "end_frame": 324 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000157.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000157.json new file mode 100644 index 0000000000000000000000000000000000000000..7dcf52994323e0147976baebeb71b868e8fba8c2 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000157.json @@ -0,0 +1,76 @@ +{ + "episode_index": 157, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pass the red block from the left to the right.", + "num_frames": 291, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 121, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 122, + "end_frame": 211, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 212, + "end_frame": 290, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 174, + "arm": "right", + "kind": "close", + "start_frame": 167, + "end_frame": 181 + }, + { + "frame": 196, + "arm": "left", + "kind": "open", + "start_frame": 189, + "end_frame": 203 + }, + { + "frame": 278, + "arm": "right", + "kind": "open", + "start_frame": 271, + "end_frame": 285 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000158.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000158.json new file mode 100644 index 0000000000000000000000000000000000000000..dc77dc37316775897bcca8ab648e93f98da42561 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000158.json @@ -0,0 +1,76 @@ +{ + "episode_index": 158, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.", + "num_frames": 288, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 117, + "end_frame": 207, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 208, + "end_frame": 287, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 275, + "arm": "right", + "kind": "open", + "start_frame": 268, + "end_frame": 282 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000159.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000159.json new file mode 100644 index 0000000000000000000000000000000000000000..b955d112dd4d4b979ab25fd94a96cc0288d3d8e6 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000159.json @@ -0,0 +1,76 @@ +{ + "episode_index": 159, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 320, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 231, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 232, + "end_frame": 319, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 193, + "arm": "right", + "kind": "close", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 215, + "arm": "left", + "kind": "open", + "start_frame": 208, + "end_frame": 222 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000160.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000160.json new file mode 100644 index 0000000000000000000000000000000000000000..e556e4c2be219105b66cff7a5c66337fee16c7d3 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000160.json @@ -0,0 +1,76 @@ +{ + "episode_index": 160, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use your arms to shift the red block.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 112, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 113, + "end_frame": 202, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 203, + "end_frame": 276, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000161.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000161.json new file mode 100644 index 0000000000000000000000000000000000000000..2e7dff2f0ec5772831d4e64c99d431e417d9cab7 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000161.json @@ -0,0 +1,76 @@ +{ + "episode_index": 161, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 286, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 118, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 119, + "end_frame": 208, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 209, + "end_frame": 285, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 171, + "arm": "right", + "kind": "close", + "start_frame": 164, + "end_frame": 178 + }, + { + "frame": 193, + "arm": "left", + "kind": "open", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 273, + "arm": "right", + "kind": "open", + "start_frame": 266, + "end_frame": 280 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000162.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000162.json new file mode 100644 index 0000000000000000000000000000000000000000..4638bed2cb0bf6fc47775970644ac5704e1d0e7c --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000162.json @@ -0,0 +1,76 @@ +{ + "episode_index": 162, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hand over the red block to the right arm.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 110, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 111, + "end_frame": 200, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 201, + "end_frame": 277, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 163, + "arm": "right", + "kind": "close", + "start_frame": 156, + "end_frame": 170 + }, + { + "frame": 185, + "arm": "left", + "kind": "open", + "start_frame": 178, + "end_frame": 192 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000163.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000163.json new file mode 100644 index 0000000000000000000000000000000000000000..607ea0e6b861cb833642caa9f82bb0caf9700f5b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000163.json @@ -0,0 +1,76 @@ +{ + "episode_index": 163, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 111, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 112, + "end_frame": 201, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 202, + "end_frame": 275, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000164.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000164.json new file mode 100644 index 0000000000000000000000000000000000000000..28f9d5b2e6ae8fa06ccc55254618b166ec7aa8d7 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000164.json @@ -0,0 +1,76 @@ +{ + "episode_index": 164, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 112, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 113, + "end_frame": 201, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 202, + "end_frame": 275, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000165.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000165.json new file mode 100644 index 0000000000000000000000000000000000000000..1b1bd2f4bef965b158521a34e2ae536c0ef04fed --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000165.json @@ -0,0 +1,76 @@ +{ + "episode_index": 165, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use left arm to grab the red block and place it on the pad.", + "num_frames": 284, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 120, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 121, + "end_frame": 210, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 211, + "end_frame": 283, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 173, + "arm": "right", + "kind": "close", + "start_frame": 166, + "end_frame": 180 + }, + { + "frame": 195, + "arm": "left", + "kind": "open", + "start_frame": 188, + "end_frame": 202 + }, + { + "frame": 271, + "arm": "right", + "kind": "open", + "start_frame": 264, + "end_frame": 278 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000166.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000166.json new file mode 100644 index 0000000000000000000000000000000000000000..4024a2bdbe1ac999ec855e0eb07c79d21a595b5d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000166.json @@ -0,0 +1,76 @@ +{ + "episode_index": 166, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 112, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 113, + "end_frame": 203, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 204, + "end_frame": 279, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000167.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000167.json new file mode 100644 index 0000000000000000000000000000000000000000..05a4de50ca718946580655601400383829e028b3 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000167.json @@ -0,0 +1,76 @@ +{ + "episode_index": 167, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block, hand it to the right arm, then set it down.", + "num_frames": 306, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 230, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 231, + "end_frame": 305, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 193, + "arm": "right", + "kind": "close", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 215, + "arm": "left", + "kind": "open", + "start_frame": 208, + "end_frame": 222 + }, + { + "frame": 293, + "arm": "right", + "kind": "open", + "start_frame": 286, + "end_frame": 300 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000168.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000168.json new file mode 100644 index 0000000000000000000000000000000000000000..65fb174030776b4ee5681e588e5c9f1c50d9d93e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000168.json @@ -0,0 +1,76 @@ +{ + "episode_index": 168, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 114, + "end_frame": 203, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 204, + "end_frame": 279, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000169.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000169.json new file mode 100644 index 0000000000000000000000000000000000000000..0243c8a6f1d0479b19a600b6358fa8a3865c0eb7 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000169.json @@ -0,0 +1,76 @@ +{ + "episode_index": 169, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 114, + "end_frame": 203, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 204, + "end_frame": 280, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000170.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000170.json new file mode 100644 index 0000000000000000000000000000000000000000..81ef39aece7a4a182a00aa3cedf9367e998542b3 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000170.json @@ -0,0 +1,76 @@ +{ + "episode_index": 170, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hand the red block to the right arm.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 117, + "end_frame": 206, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 207, + "end_frame": 279, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000171.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000171.json new file mode 100644 index 0000000000000000000000000000000000000000..12bda563b5438183835af999576c935a31533de2 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000171.json @@ -0,0 +1,76 @@ +{ + "episode_index": 171, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.", + "num_frames": 294, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 128, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 129, + "end_frame": 218, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 219, + "end_frame": 293, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 181, + "arm": "right", + "kind": "close", + "start_frame": 174, + "end_frame": 188 + }, + { + "frame": 203, + "arm": "left", + "kind": "open", + "start_frame": 196, + "end_frame": 210 + }, + { + "frame": 281, + "arm": "right", + "kind": "open", + "start_frame": 274, + "end_frame": 288 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000172.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000172.json new file mode 100644 index 0000000000000000000000000000000000000000..4cb82ae5926b6764d3202aece6b1cfc27e020f0d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000172.json @@ -0,0 +1,76 @@ +{ + "episode_index": 172, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.", + "num_frames": 291, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 120, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 121, + "end_frame": 211, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 212, + "end_frame": 290, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 173, + "arm": "right", + "kind": "close", + "start_frame": 166, + "end_frame": 180 + }, + { + "frame": 195, + "arm": "left", + "kind": "open", + "start_frame": 188, + "end_frame": 202 + }, + { + "frame": 278, + "arm": "right", + "kind": "open", + "start_frame": 271, + "end_frame": 285 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000173.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000173.json new file mode 100644 index 0000000000000000000000000000000000000000..dfa8e3c26941e88ed80b9fa7ecd6bb903ea3a6c1 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000173.json @@ -0,0 +1,76 @@ +{ + "episode_index": 173, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block and move it to the pad.", + "num_frames": 275, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 109, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 110, + "end_frame": 199, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 200, + "end_frame": 274, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 162, + "arm": "right", + "kind": "close", + "start_frame": 155, + "end_frame": 169 + }, + { + "frame": 184, + "arm": "left", + "kind": "open", + "start_frame": 177, + "end_frame": 191 + }, + { + "frame": 262, + "arm": "right", + "kind": "open", + "start_frame": 255, + "end_frame": 269 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000174.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000174.json new file mode 100644 index 0000000000000000000000000000000000000000..27292df19230dd3a72994c2cd6ef0924ab95614e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000174.json @@ -0,0 +1,76 @@ +{ + "episode_index": 174, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 115, + "end_frame": 205, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 206, + "end_frame": 279, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000175.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000175.json new file mode 100644 index 0000000000000000000000000000000000000000..7fcd5c5603e26fc735b5685b47fe58e34c39819f --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000175.json @@ -0,0 +1,76 @@ +{ + "episode_index": 175, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block using the left arm and hand it over.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 110, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 111, + "end_frame": 200, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 201, + "end_frame": 276, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 163, + "arm": "right", + "kind": "close", + "start_frame": 156, + "end_frame": 170 + }, + { + "frame": 185, + "arm": "left", + "kind": "open", + "start_frame": 178, + "end_frame": 192 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000176.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000176.json new file mode 100644 index 0000000000000000000000000000000000000000..2e7f7682f7af773b09257ff5bdb9037dec8da119 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000176.json @@ -0,0 +1,76 @@ +{ + "episode_index": 176, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hand the red block to the right arm.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 112, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 113, + "end_frame": 202, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 203, + "end_frame": 279, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000177.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000177.json new file mode 100644 index 0000000000000000000000000000000000000000..4a4f65b2006e1252558660a0e488347baa40f1b7 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000177.json @@ -0,0 +1,76 @@ +{ + "episode_index": 177, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hold the red block with the left arm and place it on the pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 112, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 113, + "end_frame": 202, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 203, + "end_frame": 277, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000178.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000178.json new file mode 100644 index 0000000000000000000000000000000000000000..94846890f12515dc5555aa5f0fc7fe92612a5eda --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000178.json @@ -0,0 +1,76 @@ +{ + "episode_index": 178, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grab the red block.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 111, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 112, + "end_frame": 201, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 202, + "end_frame": 275, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000179.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000179.json new file mode 100644 index 0000000000000000000000000000000000000000..f71e02b5970cf62f367f089260dd8732dd452d4e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000179.json @@ -0,0 +1,76 @@ +{ + "episode_index": 179, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block and transfer to the right.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 115, + "end_frame": 204, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 205, + "end_frame": 278, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000180.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000180.json new file mode 100644 index 0000000000000000000000000000000000000000..e7f5a2694daec60591c933e0c54e36f4e80b271b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000180.json @@ -0,0 +1,76 @@ +{ + "episode_index": 180, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the block with the left arm, pass it to the right arm.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 116, + "end_frame": 204, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 205, + "end_frame": 281, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000181.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000181.json new file mode 100644 index 0000000000000000000000000000000000000000..a66f058ad7c7ad86c489c641dac647c96134b4c1 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000181.json @@ -0,0 +1,76 @@ +{ + "episode_index": 181, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "The left arm should grab the red block, hand it to the right, and put it on the blue pad.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 111, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 112, + "end_frame": 201, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 202, + "end_frame": 276, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000182.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000182.json new file mode 100644 index 0000000000000000000000000000000000000000..7c12c8ad986ddb98bc36050689a47035c6e82b8f --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000182.json @@ -0,0 +1,76 @@ +{ + "episode_index": 182, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Set the red block on the blue pad gently.", + "num_frames": 293, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 128, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 129, + "end_frame": 218, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 219, + "end_frame": 292, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 181, + "arm": "right", + "kind": "close", + "start_frame": 174, + "end_frame": 188 + }, + { + "frame": 203, + "arm": "left", + "kind": "open", + "start_frame": 196, + "end_frame": 210 + }, + { + "frame": 280, + "arm": "right", + "kind": "open", + "start_frame": 273, + "end_frame": 287 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000183.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000183.json new file mode 100644 index 0000000000000000000000000000000000000000..fcfb3f63890cd6664059cd7e5fd4de3554f5aab2 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000183.json @@ -0,0 +1,76 @@ +{ + "episode_index": 183, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Set the red block on the blue pad gently.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 111, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 112, + "end_frame": 201, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 202, + "end_frame": 278, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000184.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000184.json new file mode 100644 index 0000000000000000000000000000000000000000..598c35af979da99c439a3025bdd4ba6bc979bb1c --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000184.json @@ -0,0 +1,76 @@ +{ + "episode_index": 184, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block, pass it to the right arm, and drop it.", + "num_frames": 287, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 119, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 120, + "end_frame": 209, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 210, + "end_frame": 286, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 172, + "arm": "right", + "kind": "close", + "start_frame": 165, + "end_frame": 179 + }, + { + "frame": 194, + "arm": "left", + "kind": "open", + "start_frame": 187, + "end_frame": 201 + }, + { + "frame": 274, + "arm": "right", + "kind": "open", + "start_frame": 267, + "end_frame": 281 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000185.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000185.json new file mode 100644 index 0000000000000000000000000000000000000000..254fc0c0bed04cbb099ba8e95982debebfd4b5fd --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000185.json @@ -0,0 +1,76 @@ +{ + "episode_index": 185, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block with the left arm and transfer to the right.", + "num_frames": 288, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 120, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 121, + "end_frame": 210, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 211, + "end_frame": 287, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 173, + "arm": "right", + "kind": "close", + "start_frame": 166, + "end_frame": 180 + }, + { + "frame": 195, + "arm": "left", + "kind": "open", + "start_frame": 188, + "end_frame": 202 + }, + { + "frame": 275, + "arm": "right", + "kind": "open", + "start_frame": 268, + "end_frame": 282 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000186.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000186.json new file mode 100644 index 0000000000000000000000000000000000000000..151ecd0ebeb6e409228cde25ff51646353c28677 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000186.json @@ -0,0 +1,76 @@ +{ + "episode_index": 186, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hand over the red block to the right arm.", + "num_frames": 289, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 122, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 123, + "end_frame": 213, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 214, + "end_frame": 288, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 175, + "arm": "right", + "kind": "close", + "start_frame": 168, + "end_frame": 182 + }, + { + "frame": 197, + "arm": "left", + "kind": "open", + "start_frame": 190, + "end_frame": 204 + }, + { + "frame": 276, + "arm": "right", + "kind": "open", + "start_frame": 269, + "end_frame": 283 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000187.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000187.json new file mode 100644 index 0000000000000000000000000000000000000000..7ec6bce51e73f34c6771fb2bbbc4367cdc72e9e7 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000187.json @@ -0,0 +1,76 @@ +{ + "episode_index": 187, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 112, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 113, + "end_frame": 202, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 203, + "end_frame": 279, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000188.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000188.json new file mode 100644 index 0000000000000000000000000000000000000000..bb8dc5454a22caaad548d0366fd63db21598c4aa --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000188.json @@ -0,0 +1,76 @@ +{ + "episode_index": 188, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Move the red block from the left hand to the pad.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 110, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 111, + "end_frame": 200, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 201, + "end_frame": 276, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 163, + "arm": "right", + "kind": "close", + "start_frame": 156, + "end_frame": 170 + }, + { + "frame": 185, + "arm": "left", + "kind": "open", + "start_frame": 178, + "end_frame": 192 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000189.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000189.json new file mode 100644 index 0000000000000000000000000000000000000000..3c32d3cf17cd3ba78f3f33bc4fd7620fd242746a --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000189.json @@ -0,0 +1,76 @@ +{ + "episode_index": 189, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift, switch arms, and place the red block.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 116, + "end_frame": 205, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 206, + "end_frame": 281, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000190.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000190.json new file mode 100644 index 0000000000000000000000000000000000000000..fa247a80a5364ace6b1934c912794e8d5b482a3f --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000190.json @@ -0,0 +1,76 @@ +{ + "episode_index": 190, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Set the red block on the blue pad gently.", + "num_frames": 296, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 130, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 131, + "end_frame": 220, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 221, + "end_frame": 295, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 183, + "arm": "right", + "kind": "close", + "start_frame": 176, + "end_frame": 190 + }, + { + "frame": 205, + "arm": "left", + "kind": "open", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 283, + "arm": "right", + "kind": "open", + "start_frame": 276, + "end_frame": 290 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000191.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000191.json new file mode 100644 index 0000000000000000000000000000000000000000..155449124efe256a4be50434cba099d7ec8ff3c1 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000191.json @@ -0,0 +1,76 @@ +{ + "episode_index": 191, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block and move it to the pad.", + "num_frames": 321, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 147, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 148, + "end_frame": 238, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 239, + "end_frame": 320, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 200, + "arm": "right", + "kind": "close", + "start_frame": 193, + "end_frame": 207 + }, + { + "frame": 222, + "arm": "left", + "kind": "open", + "start_frame": 215, + "end_frame": 229 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000192.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000192.json new file mode 100644 index 0000000000000000000000000000000000000000..044b9458af51564b267a9d0ce34be92d1bb7d6f1 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000192.json @@ -0,0 +1,76 @@ +{ + "episode_index": 192, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.", + "num_frames": 289, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 121, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 122, + "end_frame": 211, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 212, + "end_frame": 288, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": 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b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000193.json @@ -0,0 +1,76 @@ +{ + "episode_index": 193, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the block with the left arm, pass it to the right arm.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 116, + "end_frame": 204, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 205, + "end_frame": 278, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000194.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000194.json new file mode 100644 index 0000000000000000000000000000000000000000..8b2814d8ace405fdffe447588458487db2aea708 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000194.json @@ -0,0 +1,76 @@ +{ + "episode_index": 194, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.", + "num_frames": 286, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 118, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 119, + "end_frame": 208, + "boundary_source": 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/dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000198.json @@ -0,0 +1,76 @@ +{ + "episode_index": 198, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the block with the left arm, pass it to the right arm.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 116, + "end_frame": 205, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 206, + "end_frame": 280, + "boundary_source": 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b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000199.json new file mode 100644 index 0000000000000000000000000000000000000000..00eb439f38a8c729f97e2218dda9976fe297810b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000199.json @@ -0,0 +1,76 @@ +{ + "episode_index": 199, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block, pass it to the right arm, and drop it.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 109, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 110, + "end_frame": 199, + "boundary_source": "atomic_4_6", + "truncation_rule": 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"source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000200.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000200.json new file mode 100644 index 0000000000000000000000000000000000000000..64c612a1b90780e398c541cad33716bde3d9803e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000200.json @@ -0,0 +1,76 @@ +{ + "episode_index": 200, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab red block, pass to the right arm, then drop on blue pad.", + "num_frames": 294, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 125, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + 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"end_frame": 207 + }, + { + "frame": 281, + "arm": "right", + "kind": "open", + "start_frame": 274, + "end_frame": 288 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000201.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000201.json new file mode 100644 index 0000000000000000000000000000000000000000..4acc09ba8cdf15fb1ade98040c19e4cba3b9c1c7 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000201.json @@ -0,0 +1,76 @@ +{ + "episode_index": 201, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.", + "num_frames": 286, + "subtasks": 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"start_frame": 53, + "end_frame": 67 + }, + { + "frame": 172, + "arm": "right", + "kind": "close", + "start_frame": 165, + "end_frame": 179 + }, + { + "frame": 194, + "arm": "left", + "kind": "open", + "start_frame": 187, + "end_frame": 201 + }, + { + "frame": 273, + "arm": "right", + "kind": "open", + "start_frame": 266, + "end_frame": 280 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000202.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000202.json new file mode 100644 index 0000000000000000000000000000000000000000..17db4e80d27227a98d82fe20f19ad7c91ebc7a81 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000202.json @@ -0,0 +1,76 @@ +{ + "episode_index": 202, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 115, + "end_frame": 204, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 205, + "end_frame": 279, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000203.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000203.json new file mode 100644 index 0000000000000000000000000000000000000000..8ec621a0e19dd80ac195baeab91fa17cd427ee3a --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000203.json @@ -0,0 +1,76 @@ +{ + "episode_index": 203, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 115, + "end_frame": 204, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red 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--git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000204.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000204.json new file mode 100644 index 0000000000000000000000000000000000000000..e3719b4ea3a6daf8b374a9c96c065f580d56a8d1 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000204.json @@ -0,0 +1,76 @@ +{ + "episode_index": 204, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grab the red block.", + "num_frames": 309, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + 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], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000205.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000205.json new file mode 100644 index 0000000000000000000000000000000000000000..5d51fbb1d8be12ec40d38b3b5ee8d20c55c8a575 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000205.json @@ -0,0 +1,76 @@ +{ + "episode_index": 205, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 116, + "end_frame": 205, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 206, + "end_frame": 282, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000206.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000206.json new file mode 100644 index 0000000000000000000000000000000000000000..cb33d7722b6f1eea58f5cbb043a4bea9480c218a --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000206.json @@ -0,0 +1,76 @@ +{ + "episode_index": 206, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the red block with your 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b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000207.json @@ -0,0 +1,76 @@ +{ + "episode_index": 207, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 114, + "end_frame": 203, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 204, + "end_frame": 278, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000208.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000208.json new file mode 100644 index 0000000000000000000000000000000000000000..577a93fd166f03946dac31b10f6d758536ff7a9e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000208.json @@ -0,0 +1,76 @@ +{ + "episode_index": 208, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 111, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 112, + "end_frame": 201, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 202, + "end_frame": 276, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000209.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000209.json new file mode 100644 index 0000000000000000000000000000000000000000..8cced2199476513f0ed9c788e0f09d5b2a8bb4f1 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000209.json @@ -0,0 +1,76 @@ +{ + "episode_index": 209, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.", + "num_frames": 273, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + 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"kind": "close", + "start_frame": 155, + "end_frame": 169 + }, + { + "frame": 184, + "arm": "left", + "kind": "open", + "start_frame": 177, + "end_frame": 191 + }, + { + "frame": 260, + "arm": "right", + "kind": "open", + "start_frame": 253, + "end_frame": 267 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000210.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000210.json new file mode 100644 index 0000000000000000000000000000000000000000..26964306ad4ee28087a3650831751b7de3b587a7 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000210.json @@ -0,0 +1,76 @@ +{ + "episode_index": 210, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hand over the red block to the right arm.", + "num_frames": 316, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 142, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 143, + "end_frame": 232, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 233, + "end_frame": 315, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 195, + "arm": "right", + "kind": "close", + "start_frame": 188, + "end_frame": 202 + }, + { + "frame": 217, + "arm": "left", + "kind": "open", + "start_frame": 210, + "end_frame": 224 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000211.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000211.json new file mode 100644 index 0000000000000000000000000000000000000000..b16ebbc0d8f75afd3ddb3448810e0d8a06777ca8 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000211.json @@ -0,0 +1,76 @@ +{ + "episode_index": 211, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.", + "num_frames": 310, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 144, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 145, + "end_frame": 234, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 235, + "end_frame": 309, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 197, + "arm": "right", + "kind": "close", + "start_frame": 190, + "end_frame": 204 + }, + { + "frame": 219, + "arm": "left", + "kind": "open", + "start_frame": 212, + "end_frame": 226 + }, + { + "frame": 297, + "arm": "right", + "kind": "open", + "start_frame": 290, + "end_frame": 304 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000212.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000212.json new file mode 100644 index 0000000000000000000000000000000000000000..23cf9f70026f93561b94a6d3c77d23f8fa60bd8d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000212.json @@ -0,0 +1,76 @@ +{ + "episode_index": 212, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block, pass it to the right arm, and drop it.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 112, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 113, + "end_frame": 202, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 203, + "end_frame": 275, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000213.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000213.json new file mode 100644 index 0000000000000000000000000000000000000000..c16fb087aa842488e3b372ec092a1cc4843a335a --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000213.json @@ -0,0 +1,76 @@ +{ + "episode_index": 213, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab red block, pass to the right arm, then drop on blue pad.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 114, + "end_frame": 203, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 204, + "end_frame": 280, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000214.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000214.json new file mode 100644 index 0000000000000000000000000000000000000000..be8f869c02331e84a9ed417645b7b48d0d9551a5 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000214.json @@ -0,0 +1,76 @@ +{ + "episode_index": 214, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 115, + "end_frame": 204, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 205, + "end_frame": 278, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000215.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000215.json new file mode 100644 index 0000000000000000000000000000000000000000..3ac00b21db9dafc2d9d4bb580abbf6fafab63ca2 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000215.json @@ -0,0 +1,76 @@ +{ + "episode_index": 215, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift, switch arms, and place the red block.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 116, + "end_frame": 205, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 206, + "end_frame": 281, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000216.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000216.json new file mode 100644 index 0000000000000000000000000000000000000000..cc7774a592eb633de591452b3eb762ba4c8a13a6 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000216.json @@ -0,0 +1,76 @@ +{ + "episode_index": 216, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 111, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 112, + "end_frame": 202, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 203, + "end_frame": 277, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000217.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000217.json new file mode 100644 index 0000000000000000000000000000000000000000..7ed773a3aaf0b7599165d8933e4d7103067f2973 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000217.json @@ -0,0 +1,76 @@ +{ + "episode_index": 217, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block, pass it to the right arm, then place it.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 110, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 111, + "end_frame": 200, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 201, + "end_frame": 277, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 163, + "arm": "right", + "kind": "close", + "start_frame": 156, + "end_frame": 170 + }, + { + "frame": 185, + "arm": "left", + "kind": "open", + "start_frame": 178, + "end_frame": 192 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000218.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000218.json new file mode 100644 index 0000000000000000000000000000000000000000..d19b02e83787ff1169ca52277330af4b21ea0072 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000218.json @@ -0,0 +1,76 @@ +{ + "episode_index": 218, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab red block, pass to the right arm, then drop on blue pad.", + "num_frames": 290, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 124, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 125, + "end_frame": 213, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 214, + "end_frame": 289, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 176, + "arm": "right", + "kind": "close", + "start_frame": 169, + "end_frame": 183 + }, + { + "frame": 198, + "arm": "left", + "kind": "open", + "start_frame": 191, + "end_frame": 205 + }, + { + "frame": 277, + "arm": "right", + "kind": "open", + "start_frame": 270, + "end_frame": 284 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000219.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000219.json new file mode 100644 index 0000000000000000000000000000000000000000..87af57e66ea0194a487cfbe717d169b1d367e1cf --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000219.json @@ -0,0 +1,76 @@ +{ + "episode_index": 219, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab red block, pass to the right arm, then drop on blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 114, + "end_frame": 203, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 204, + "end_frame": 278, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000220.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000220.json new file mode 100644 index 0000000000000000000000000000000000000000..69924f56c9dd9ea8f25194c629a4931157fdbb16 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000220.json @@ -0,0 +1,76 @@ +{ + "episode_index": 220, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 116, + "end_frame": 205, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 206, + "end_frame": 281, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000221.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000221.json new file mode 100644 index 0000000000000000000000000000000000000000..f09108d0d75f8a5b7199a7dd69d4084ccab2af7c --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000221.json @@ -0,0 +1,76 @@ +{ + "episode_index": 221, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block, transfer it, and set it on blue.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 114, + "end_frame": 203, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 204, + "end_frame": 280, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000222.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000222.json new file mode 100644 index 0000000000000000000000000000000000000000..1f3c15bd107cb8eee5fa116a23d056268d8d2613 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000222.json @@ -0,0 +1,76 @@ +{ + "episode_index": 222, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 112, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 113, + "end_frame": 202, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 203, + "end_frame": 280, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000223.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000223.json new file mode 100644 index 0000000000000000000000000000000000000000..134f4cc2697b23296adb4e0562c198398da18018 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000223.json @@ -0,0 +1,76 @@ +{ + "episode_index": 223, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with your left arm.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 115, + "end_frame": 204, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 205, + "end_frame": 278, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000224.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000224.json new file mode 100644 index 0000000000000000000000000000000000000000..94fef1b3e4b524219a82613fc4437c1f0d494f57 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000224.json @@ -0,0 +1,76 @@ +{ + "episode_index": 224, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift, switch arms, and place the red block.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 117, + "end_frame": 206, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 207, + "end_frame": 279, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000225.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000225.json new file mode 100644 index 0000000000000000000000000000000000000000..8ecd763faaaf79f767fbec2dcc8957ffa86331db --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000225.json @@ -0,0 +1,76 @@ +{ + "episode_index": 225, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.", + "num_frames": 287, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 121, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 122, + "end_frame": 211, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 212, + "end_frame": 286, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 174, + "arm": "right", + "kind": "close", + "start_frame": 167, + "end_frame": 181 + }, + { + "frame": 196, + "arm": "left", + "kind": "open", + "start_frame": 189, + "end_frame": 203 + }, + { + "frame": 274, + "arm": "right", + "kind": "open", + "start_frame": 267, + "end_frame": 281 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000226.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000226.json new file mode 100644 index 0000000000000000000000000000000000000000..5ab7e12522aa82a8a6a3fe732ac76b6ea603960a --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000226.json @@ -0,0 +1,76 @@ +{ + "episode_index": 226, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block, transfer it, and set it on blue.", + "num_frames": 298, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 131, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 132, + "end_frame": 222, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 223, + "end_frame": 297, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 185, + "arm": "right", + "kind": "close", + "start_frame": 178, + "end_frame": 192 + }, + { + "frame": 207, + "arm": "left", + "kind": "open", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 285, + "arm": "right", + "kind": "open", + "start_frame": 278, + "end_frame": 292 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000227.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000227.json new file mode 100644 index 0000000000000000000000000000000000000000..2f8313a98054793f6e5ab9b6c8c8871e4275bc77 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000227.json @@ -0,0 +1,76 @@ +{ + "episode_index": 227, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block using the left arm and hand it over.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 112, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 113, + "end_frame": 202, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 203, + "end_frame": 278, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000228.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000228.json new file mode 100644 index 0000000000000000000000000000000000000000..7ca84b16298f56948f0cd7c929c9a8236e69f557 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000228.json @@ -0,0 +1,76 @@ +{ + "episode_index": 228, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grab the red block.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 111, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 112, + "end_frame": 201, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 202, + "end_frame": 275, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000229.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000229.json new file mode 100644 index 0000000000000000000000000000000000000000..f37742b0a6a230d32e9740ea837ce7392ea4082b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000229.json @@ -0,0 +1,76 @@ +{ + "episode_index": 229, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pass the red block from the left to the right.", + "num_frames": 315, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 229, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 230, + "end_frame": 314, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 73, + "arm": "left", + "kind": "close", + "start_frame": 66, + "end_frame": 80 + }, + { + "frame": 192, + "arm": "right", + "kind": "close", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 214, + "arm": "left", + "kind": "open", + "start_frame": 207, + "end_frame": 221 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000230.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000230.json new file mode 100644 index 0000000000000000000000000000000000000000..d3c6e1b541268fed212ae73740dd0a1d6d3bd892 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000230.json @@ -0,0 +1,76 @@ +{ + "episode_index": 230, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up and handover the red block.", + "num_frames": 274, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 107, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 108, + "end_frame": 197, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 198, + "end_frame": 273, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 160, + "arm": "right", + "kind": "close", + "start_frame": 153, + "end_frame": 167 + }, + { + "frame": 182, + "arm": "left", + "kind": "open", + "start_frame": 175, + "end_frame": 189 + }, + { + "frame": 261, + "arm": "right", + "kind": "open", + "start_frame": 254, + "end_frame": 268 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000231.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000231.json new file mode 100644 index 0000000000000000000000000000000000000000..4c40c0204f04f53fbb8f06156d080935bec79047 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000231.json @@ -0,0 +1,76 @@ +{ + "episode_index": 231, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block and move it to the pad.", + "num_frames": 284, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 117, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 118, + "end_frame": 207, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 208, + "end_frame": 283, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 271, + "arm": "right", + "kind": "open", + "start_frame": 264, + "end_frame": 278 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000232.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000232.json new file mode 100644 index 0000000000000000000000000000000000000000..dc928e191c8b387890560372c4081cab5d2c3a64 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000232.json @@ -0,0 +1,76 @@ +{ + "episode_index": 232, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 115, + "end_frame": 204, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 205, + "end_frame": 280, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000233.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000233.json new file mode 100644 index 0000000000000000000000000000000000000000..638f4017ac8dced97c74e3b641a1ecd29c93bc92 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000233.json @@ -0,0 +1,76 @@ +{ + "episode_index": 233, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 116, + "end_frame": 205, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 206, + "end_frame": 281, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000234.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000234.json new file mode 100644 index 0000000000000000000000000000000000000000..3b5655ee9c6c757d978fc16c83b6d0034c75e980 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000234.json @@ -0,0 +1,76 @@ +{ + "episode_index": 234, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 112, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 113, + "end_frame": 202, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 203, + "end_frame": 277, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000235.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000235.json new file mode 100644 index 0000000000000000000000000000000000000000..690e8d60860aa3dbac47b15b7686974aa275287b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000235.json @@ -0,0 +1,76 @@ +{ + "episode_index": 235, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.", + "num_frames": 284, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 119, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 120, + "end_frame": 209, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 210, + "end_frame": 283, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 172, + "arm": "right", + "kind": "close", + "start_frame": 165, + "end_frame": 179 + }, + { + "frame": 194, + "arm": "left", + "kind": "open", + "start_frame": 187, + "end_frame": 201 + }, + { + "frame": 271, + "arm": "right", + "kind": "open", + "start_frame": 264, + "end_frame": 278 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000236.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000236.json new file mode 100644 index 0000000000000000000000000000000000000000..39b65af0e844cede5e8d4d0086fc867d7c8028c2 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000236.json @@ -0,0 +1,76 @@ +{ + "episode_index": 236, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 110, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 111, + "end_frame": 200, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 201, + "end_frame": 275, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 163, + "arm": "right", + "kind": "close", + "start_frame": 156, + "end_frame": 170 + }, + { + "frame": 185, + "arm": "left", + "kind": "open", + "start_frame": 178, + "end_frame": 192 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000237.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000237.json new file mode 100644 index 0000000000000000000000000000000000000000..a5a8c9968ec3dea11946220fdd47fbe7b9fa0e50 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000237.json @@ -0,0 +1,76 @@ +{ + "episode_index": 237, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 118, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 119, + "end_frame": 208, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 209, + "end_frame": 282, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 171, + "arm": "right", + "kind": "close", + "start_frame": 164, + "end_frame": 178 + }, + { + "frame": 193, + "arm": "left", + "kind": "open", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000238.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000238.json new file mode 100644 index 0000000000000000000000000000000000000000..d9ebd4b7743d6f186b289ffb2bbc921c498f7c87 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000238.json @@ -0,0 +1,76 @@ +{ + "episode_index": 238, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hand over the red block to the right arm.", + "num_frames": 304, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 227, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 228, + "end_frame": 303, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 190, + "arm": "right", + "kind": "close", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 212, + "arm": "left", + "kind": "open", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 291, + "arm": "right", + "kind": "open", + "start_frame": 284, + "end_frame": 298 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000239.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000239.json new file mode 100644 index 0000000000000000000000000000000000000000..608ee9b40eb69f4c12dc9f0be64df2203b9d3a78 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000239.json @@ -0,0 +1,76 @@ +{ + "episode_index": 239, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 118, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 119, + "end_frame": 207, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 208, + "end_frame": 282, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000240.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000240.json new file mode 100644 index 0000000000000000000000000000000000000000..8cf0d7c5c6115fde9c126ea2d1caec9a392898b3 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000240.json @@ -0,0 +1,76 @@ +{ + "episode_index": 240, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 112, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 113, + "end_frame": 202, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 203, + "end_frame": 277, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000241.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000241.json new file mode 100644 index 0000000000000000000000000000000000000000..5d85b8f6c5f7426a2b6536c997eee24acbcf31bc --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000241.json @@ -0,0 +1,76 @@ +{ + "episode_index": 241, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Place the red block on the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 115, + "end_frame": 204, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 205, + "end_frame": 279, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000242.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000242.json new file mode 100644 index 0000000000000000000000000000000000000000..cc30c2e95fd2335f9c7aa7a4f0ccc736a9c822d9 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000242.json @@ -0,0 +1,76 @@ +{ + "episode_index": 242, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with your left arm.", + "num_frames": 287, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 121, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 122, + "end_frame": 211, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 212, + "end_frame": 286, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 174, + "arm": "right", + "kind": "close", + "start_frame": 167, + "end_frame": 181 + }, + { + "frame": 196, + "arm": "left", + "kind": "open", + "start_frame": 189, + "end_frame": 203 + }, + { + "frame": 274, + "arm": "right", + "kind": "open", + "start_frame": 267, + "end_frame": 281 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000243.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000243.json new file mode 100644 index 0000000000000000000000000000000000000000..fcdacf41cec2daa8ea859fcdc7915a24ad116350 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000243.json @@ -0,0 +1,76 @@ +{ + "episode_index": 243, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block with the left arm and transfer to the right.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 114, + "end_frame": 203, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 204, + "end_frame": 277, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000244.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000244.json new file mode 100644 index 0000000000000000000000000000000000000000..affdcec2044f6c5cf27346049c65ffc8fbb6162a --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000244.json @@ -0,0 +1,76 @@ +{ + "episode_index": 244, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Move the red block using the left arm.", + "num_frames": 296, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 128, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 129, + "end_frame": 218, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 219, + "end_frame": 295, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 181, + "arm": "right", + "kind": "close", + "start_frame": 174, + "end_frame": 188 + }, + { + "frame": 203, + "arm": "left", + "kind": "open", + "start_frame": 196, + "end_frame": 210 + }, + { + "frame": 283, + "arm": "right", + "kind": "open", + "start_frame": 276, + "end_frame": 290 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000245.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000245.json new file mode 100644 index 0000000000000000000000000000000000000000..9313d4da8b2436d45696c52f7a86dbd0262b6e07 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000245.json @@ -0,0 +1,76 @@ +{ + "episode_index": 245, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift, switch arms, and place the red block.", + "num_frames": 311, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 144, + "end_frame": 233, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 234, + "end_frame": 310, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 196, + "arm": "right", + "kind": "close", + "start_frame": 189, + "end_frame": 203 + }, + { + "frame": 218, + "arm": "left", + "kind": "open", + "start_frame": 211, + "end_frame": 225 + }, + { + "frame": 298, + "arm": "right", + "kind": "open", + "start_frame": 291, + "end_frame": 305 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000246.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000246.json new file mode 100644 index 0000000000000000000000000000000000000000..539dee3120a8142212f4c62073608ee79b182934 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000246.json @@ -0,0 +1,76 @@ +{ + "episode_index": 246, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Move the red block from the left hand to the pad.", + "num_frames": 285, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 119, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 120, + "end_frame": 209, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 210, + "end_frame": 284, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 172, + "arm": "right", + "kind": "close", + "start_frame": 165, + "end_frame": 179 + }, + { + "frame": 194, + "arm": "left", + "kind": "open", + "start_frame": 187, + "end_frame": 201 + }, + { + "frame": 272, + "arm": "right", + "kind": "open", + "start_frame": 265, + "end_frame": 279 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000247.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000247.json new file mode 100644 index 0000000000000000000000000000000000000000..591ad5d8ac5db2a3f698366cdf251bba394ba106 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000247.json @@ -0,0 +1,76 @@ +{ + "episode_index": 247, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block with the left hand and pass it.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 111, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 112, + "end_frame": 201, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 202, + "end_frame": 275, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000248.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000248.json new file mode 100644 index 0000000000000000000000000000000000000000..54ad1b3a5ca1bfef3feff963ecc759cc8610e038 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000248.json @@ -0,0 +1,76 @@ +{ + "episode_index": 248, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hold the red block, transfer to the right arm, then set it down.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 118, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 119, + "end_frame": 207, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 208, + "end_frame": 282, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000249.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000249.json new file mode 100644 index 0000000000000000000000000000000000000000..2eef63cad12f9bc45c292fa715547d2e3c2b30d2 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000249.json @@ -0,0 +1,76 @@ +{ + "episode_index": 249, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block, hand it over, and place it properly.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 115, + "end_frame": 203, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 204, + "end_frame": 280, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000250.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000250.json new file mode 100644 index 0000000000000000000000000000000000000000..d3100ce93c7aeae83571489b3ad495615303b2c5 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000250.json @@ -0,0 +1,76 @@ +{ + "episode_index": 250, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 114, + "end_frame": 204, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 205, + "end_frame": 281, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000251.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000251.json new file mode 100644 index 0000000000000000000000000000000000000000..bc0f4e7101a3e1e0e63b0d6427ec8902897b54e4 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000251.json @@ -0,0 +1,76 @@ +{ + "episode_index": 251, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Place the red block on the blue pad.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 111, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 112, + "end_frame": 201, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 202, + "end_frame": 275, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000252.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000252.json new file mode 100644 index 0000000000000000000000000000000000000000..e5800a02d96b60ec8f99059fcfe560a66706cde3 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000252.json @@ -0,0 +1,76 @@ +{ + "episode_index": 252, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab red block, pass to the right arm, then drop on blue pad.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 117, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 118, + "end_frame": 207, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 208, + "end_frame": 282, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000253.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000253.json new file mode 100644 index 0000000000000000000000000000000000000000..0b24fc1bf1e31e61428bd9431c7b74e50f7fc4b0 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000253.json @@ -0,0 +1,76 @@ +{ + "episode_index": 253, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block and move it to the pad.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 117, + "end_frame": 206, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 207, + "end_frame": 281, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000254.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000254.json new file mode 100644 index 0000000000000000000000000000000000000000..5e3914dba11f8605125ee71ab2c125aa2fd37ba8 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000254.json @@ -0,0 +1,76 @@ +{ + "episode_index": 254, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block and move it to the pad.", + "num_frames": 275, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 108, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 109, + "end_frame": 198, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 199, + "end_frame": 274, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 161, + "arm": "right", + "kind": "close", + "start_frame": 154, + "end_frame": 168 + }, + { + "frame": 183, + "arm": "left", + "kind": "open", + "start_frame": 176, + "end_frame": 190 + }, + { + "frame": 262, + "arm": "right", + "kind": "open", + "start_frame": 255, + "end_frame": 269 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000255.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000255.json new file mode 100644 index 0000000000000000000000000000000000000000..178e73d78c9a6bade8f6103099b9afcb3aec4737 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000255.json @@ -0,0 +1,76 @@ +{ + "episode_index": 255, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the block with the left arm, pass it to the right arm.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 115, + "end_frame": 204, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 205, + "end_frame": 280, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000256.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000256.json new file mode 100644 index 0000000000000000000000000000000000000000..b3252f4d7d88d5fe705449b345a97b8c05083cc7 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000256.json @@ -0,0 +1,76 @@ +{ + "episode_index": 256, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "The left arm should grab the red block, hand it to the right, and put it on the blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 115, + "end_frame": 203, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 204, + "end_frame": 278, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000257.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000257.json new file mode 100644 index 0000000000000000000000000000000000000000..c9cb0a45698d0cfa0c88f4cf796b6672e54d678e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000257.json @@ -0,0 +1,76 @@ +{ + "episode_index": 257, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Place the red block onto the blue pad using the right arm.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 115, + "end_frame": 204, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 205, + "end_frame": 279, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000258.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000258.json new file mode 100644 index 0000000000000000000000000000000000000000..1e37daaf6ef5958ce09eb38ccd7d67fa73417aaa --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000258.json @@ -0,0 +1,76 @@ +{ + "episode_index": 258, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Move the red block from the left hand to the pad.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 117, + "end_frame": 206, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 207, + "end_frame": 282, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000259.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000259.json new file mode 100644 index 0000000000000000000000000000000000000000..f9b5bb4c674c5fe4e5bc87f94b3bda64689ce4c7 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000259.json @@ -0,0 +1,76 @@ +{ + "episode_index": 259, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 294, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 132, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 133, + "end_frame": 221, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 222, + "end_frame": 293, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 184, + "arm": "right", + "kind": "close", + "start_frame": 177, + "end_frame": 191 + }, + { + "frame": 206, + "arm": "left", + "kind": "open", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 281, + "arm": "right", + "kind": "open", + "start_frame": 274, + "end_frame": 288 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000260.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000260.json new file mode 100644 index 0000000000000000000000000000000000000000..3fd56b4582b6f5cc2f278f9757f6146d2d9ad86f --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000260.json @@ -0,0 +1,76 @@ +{ + "episode_index": 260, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 117, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 118, + "end_frame": 207, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 208, + "end_frame": 282, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000261.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000261.json new file mode 100644 index 0000000000000000000000000000000000000000..3c7e02785c504ffe88a4b3571916abf4501018f2 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000261.json @@ -0,0 +1,76 @@ +{ + "episode_index": 261, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block using the left arm and hand it over.", + "num_frames": 287, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 120, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 121, + "end_frame": 210, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 211, + "end_frame": 286, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 173, + "arm": "right", + "kind": "close", + "start_frame": 166, + "end_frame": 180 + }, + { + "frame": 195, + "arm": "left", + "kind": "open", + "start_frame": 188, + "end_frame": 202 + }, + { + "frame": 274, + "arm": "right", + "kind": "open", + "start_frame": 267, + "end_frame": 281 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000262.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000262.json new file mode 100644 index 0000000000000000000000000000000000000000..c52cf68a8183cb5db2a9a0b568ec0ec6950c003e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000262.json @@ -0,0 +1,76 @@ +{ + "episode_index": 262, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Place the red block on the blue pad.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 118, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 119, + "end_frame": 208, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 209, + "end_frame": 281, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 171, + "arm": "right", + "kind": "close", + "start_frame": 164, + "end_frame": 178 + }, + { + "frame": 193, + "arm": "left", + "kind": "open", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000263.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000263.json new file mode 100644 index 0000000000000000000000000000000000000000..8e0b116c23e3e9aeb6f765b449dad24f0b2ff0b7 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000263.json @@ -0,0 +1,76 @@ +{ + "episode_index": 263, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block using the left arm and hand it over.", + "num_frames": 275, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 108, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 109, + "end_frame": 198, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 199, + "end_frame": 274, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 161, + "arm": "right", + "kind": "close", + "start_frame": 154, + "end_frame": 168 + }, + { + "frame": 183, + "arm": "left", + "kind": "open", + "start_frame": 176, + "end_frame": 190 + }, + { + "frame": 262, + "arm": "right", + "kind": "open", + "start_frame": 255, + "end_frame": 269 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000264.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000264.json new file mode 100644 index 0000000000000000000000000000000000000000..eaaeb077230f42f0f4d2fc37d6847979782d5c68 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000264.json @@ -0,0 +1,76 @@ +{ + "episode_index": 264, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up and handover the red block.", + "num_frames": 309, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 226, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 227, + "end_frame": 308, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 188, + "arm": "right", + "kind": "close", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 210, + "arm": "left", + "kind": "open", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 296, + "arm": "right", + "kind": "open", + "start_frame": 289, + "end_frame": 303 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000265.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000265.json new file mode 100644 index 0000000000000000000000000000000000000000..db5b2edbec58eee37c469e9a522836b08185d97a --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000265.json @@ -0,0 +1,76 @@ +{ + "episode_index": 265, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hand the red block to the right arm.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 114, + "end_frame": 203, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 204, + "end_frame": 280, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000266.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000266.json new file mode 100644 index 0000000000000000000000000000000000000000..72ce350fd84d0064c6a3a63a05d3131b7b9022d0 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000266.json @@ -0,0 +1,76 @@ +{ + "episode_index": 266, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 109, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 110, + "end_frame": 199, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 200, + "end_frame": 276, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 162, + "arm": "right", + "kind": "close", + "start_frame": 155, + "end_frame": 169 + }, + { + "frame": 184, + "arm": "left", + "kind": "open", + "start_frame": 177, + "end_frame": 191 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000267.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000267.json new file mode 100644 index 0000000000000000000000000000000000000000..22e07484b07a5444335faba00ddceb6f3cd3b8f3 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000267.json @@ -0,0 +1,76 @@ +{ + "episode_index": 267, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use left arm to grab the red block and place it on the pad.", + "num_frames": 290, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 120, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 121, + "end_frame": 210, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 211, + "end_frame": 289, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 173, + "arm": "right", + "kind": "close", + "start_frame": 166, + "end_frame": 180 + }, + { + "frame": 195, + "arm": "left", + "kind": "open", + "start_frame": 188, + "end_frame": 202 + }, + { + "frame": 277, + "arm": "right", + "kind": "open", + "start_frame": 270, + "end_frame": 284 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000268.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000268.json new file mode 100644 index 0000000000000000000000000000000000000000..9f51b7654449427e9c44519d58fa6b1526e81443 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000268.json @@ -0,0 +1,76 @@ +{ + "episode_index": 268, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block, pass it to the right arm, then place it.", + "num_frames": 286, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 119, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 120, + "end_frame": 210, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 211, + "end_frame": 285, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 173, + "arm": "right", + "kind": "close", + "start_frame": 166, + "end_frame": 180 + }, + { + "frame": 195, + "arm": "left", + "kind": "open", + "start_frame": 188, + "end_frame": 202 + }, + { + "frame": 273, + "arm": "right", + "kind": "open", + "start_frame": 266, + "end_frame": 280 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000269.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000269.json new file mode 100644 index 0000000000000000000000000000000000000000..a3d072b19f36d5481716df180bd5ff9bdaefbd1e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000269.json @@ -0,0 +1,76 @@ +{ + "episode_index": 269, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 110, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 111, + "end_frame": 200, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 201, + "end_frame": 276, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 163, + "arm": "right", + "kind": "close", + "start_frame": 156, + "end_frame": 170 + }, + { + "frame": 185, + "arm": "left", + "kind": "open", + "start_frame": 178, + "end_frame": 192 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000270.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000270.json new file mode 100644 index 0000000000000000000000000000000000000000..705feedf9f5045ac582b94a2aeb2cc2608dd942f --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000270.json @@ -0,0 +1,76 @@ +{ + "episode_index": 270, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.", + "num_frames": 290, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 125, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 126, + "end_frame": 214, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 215, + "end_frame": 289, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 177, + "arm": "right", + "kind": "close", + "start_frame": 170, + "end_frame": 184 + }, + { + "frame": 199, + "arm": "left", + "kind": "open", + "start_frame": 192, + "end_frame": 206 + }, + { + "frame": 277, + "arm": "right", + "kind": "open", + "start_frame": 270, + "end_frame": 284 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000271.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000271.json new file mode 100644 index 0000000000000000000000000000000000000000..bfce65ab70e9c08b2f53f1af546351aa079264a6 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000271.json @@ -0,0 +1,76 @@ +{ + "episode_index": 271, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.", + "num_frames": 292, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 125, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 126, + "end_frame": 215, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 216, + "end_frame": 291, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 178, + "arm": "right", + "kind": "close", + "start_frame": 171, + "end_frame": 185 + }, + { + "frame": 200, + "arm": "left", + "kind": "open", + "start_frame": 193, + "end_frame": 207 + }, + { + "frame": 279, + "arm": "right", + "kind": "open", + "start_frame": 272, + "end_frame": 286 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000272.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000272.json new file mode 100644 index 0000000000000000000000000000000000000000..30b6f1c32f05728d81a413481691d7116a1ecf42 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000272.json @@ -0,0 +1,76 @@ +{ + "episode_index": 272, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "The left arm should grab the red block, hand it to the right, and put it on the blue pad.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 109, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 110, + "end_frame": 199, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 200, + "end_frame": 275, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 162, + "arm": "right", + "kind": "close", + "start_frame": 155, + "end_frame": 169 + }, + { + "frame": 184, + "arm": "left", + "kind": "open", + "start_frame": 177, + "end_frame": 191 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000273.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000273.json new file mode 100644 index 0000000000000000000000000000000000000000..be2745e57b46b462235a1117dff1bcabd629d38f --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000273.json @@ -0,0 +1,76 @@ +{ + "episode_index": 273, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.", + "num_frames": 305, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 131, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 132, + "end_frame": 222, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 223, + "end_frame": 304, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 184, + "arm": "right", + "kind": "close", + "start_frame": 177, + "end_frame": 191 + }, + { + "frame": 206, + "arm": "left", + "kind": "open", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 292, + "arm": "right", + "kind": "open", + "start_frame": 285, + "end_frame": 299 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000274.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000274.json new file mode 100644 index 0000000000000000000000000000000000000000..44159274e5c3c6501f7dfb4fc3a4161580a17005 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000274.json @@ -0,0 +1,76 @@ +{ + "episode_index": 274, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 114, + "end_frame": 202, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 203, + "end_frame": 277, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000275.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000275.json new file mode 100644 index 0000000000000000000000000000000000000000..1099ab3c8f0c778e2f4fdd820058f5843297e62c --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000275.json @@ -0,0 +1,76 @@ +{ + "episode_index": 275, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab red block, pass to the right arm, then drop on blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 112, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 113, + "end_frame": 202, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 203, + "end_frame": 277, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000276.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000276.json new file mode 100644 index 0000000000000000000000000000000000000000..0f9a2317536bec232fd23f60bf155911be7d9886 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000276.json @@ -0,0 +1,76 @@ +{ + "episode_index": 276, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Place the red block onto the blue pad using the right arm.", + "num_frames": 306, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 230, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 231, + "end_frame": 305, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 193, + "arm": "right", + "kind": "close", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 215, + "arm": "left", + "kind": "open", + "start_frame": 208, + "end_frame": 222 + }, + { + "frame": 293, + "arm": "right", + "kind": "open", + "start_frame": 286, + "end_frame": 300 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000277.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000277.json new file mode 100644 index 0000000000000000000000000000000000000000..320d8e5f226b928370d9c1b1314dd71de7f8fe1a --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000277.json @@ -0,0 +1,76 @@ +{ + "episode_index": 277, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 112, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 113, + "end_frame": 202, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 203, + "end_frame": 278, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000278.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000278.json new file mode 100644 index 0000000000000000000000000000000000000000..b15bd47a79d1f683d820d634191ed064ce1968ac --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000278.json @@ -0,0 +1,76 @@ +{ + "episode_index": 278, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to pick up the red block and transfer it to the right arm before placing 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"frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000279.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000279.json new file mode 100644 index 0000000000000000000000000000000000000000..1e9448818ab63885b9fef0e7996060048427cb4a --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000279.json @@ -0,0 +1,76 @@ +{ + "episode_index": 279, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.", + "num_frames": 301, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 226, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 227, + "end_frame": 300, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 189, + "arm": "right", + "kind": "close", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 211, + "arm": "left", + "kind": "open", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 288, + "arm": "right", + "kind": "open", + "start_frame": 281, + "end_frame": 295 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000280.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000280.json new file mode 100644 index 0000000000000000000000000000000000000000..dc5d6554c989e23d4c04a5f9f1c31a985b9322c5 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000280.json @@ -0,0 +1,76 @@ +{ + "episode_index": 280, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block, pass it to the right arm, then place it.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 112, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 113, + "end_frame": 202, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 203, + "end_frame": 277, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000281.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000281.json new file mode 100644 index 0000000000000000000000000000000000000000..4869bea234b7929e45be93addb216bfe9104c030 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000281.json @@ -0,0 +1,76 @@ +{ + "episode_index": 281, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grab the red block.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 115, + "end_frame": 204, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 205, + "end_frame": 280, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000282.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000282.json new file mode 100644 index 0000000000000000000000000000000000000000..79535827b9eed6c28454cc81b37ee95f8e6f0027 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000282.json @@ -0,0 +1,76 @@ +{ + "episode_index": 282, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block and transfer to the right.", + "num_frames": 284, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 117, + "end_frame": 206, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 207, + "end_frame": 283, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 271, + "arm": "right", + "kind": "open", + "start_frame": 264, + "end_frame": 278 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000283.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000283.json new file mode 100644 index 0000000000000000000000000000000000000000..11d9793dc8c538edae932c69041ad160698fb6ae --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000283.json @@ -0,0 +1,76 @@ +{ + "episode_index": 283, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grab the red block.", + "num_frames": 292, + "subtasks": [ + { + 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57, + "end_frame": 71 + }, + { + "frame": 177, + "arm": "right", + "kind": "close", + "start_frame": 170, + "end_frame": 184 + }, + { + "frame": 199, + "arm": "left", + "kind": "open", + "start_frame": 192, + "end_frame": 206 + }, + { + "frame": 279, + "arm": "right", + "kind": "open", + "start_frame": 272, + "end_frame": 286 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000284.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000284.json new file mode 100644 index 0000000000000000000000000000000000000000..5eed3f110371ddfa911c15dbb611e0fb18d048c8 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000284.json @@ -0,0 +1,76 @@ +{ + "episode_index": 284, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use your arms to shift the red block.", + "num_frames": 290, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 121, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 122, + "end_frame": 211, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 212, + "end_frame": 289, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 174, + "arm": "right", + "kind": "close", + "start_frame": 167, + "end_frame": 181 + }, + { + "frame": 196, + "arm": "left", + "kind": "open", + "start_frame": 189, + "end_frame": 203 + }, + { + "frame": 277, + "arm": "right", + "kind": "open", + "start_frame": 270, + "end_frame": 284 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000285.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000285.json new file mode 100644 index 0000000000000000000000000000000000000000..92f6ae411f0b249f87eca730bf1b4077181c7b9b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000285.json @@ -0,0 +1,76 @@ +{ + "episode_index": 285, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 292, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 123, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 124, + "end_frame": 213, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 214, + "end_frame": 291, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 176, + "arm": "right", + "kind": "close", + "start_frame": 169, + "end_frame": 183 + }, + { + "frame": 198, + "arm": "left", + "kind": "open", + "start_frame": 191, + "end_frame": 205 + }, + { + "frame": 279, + "arm": "right", + "kind": "open", + "start_frame": 272, + "end_frame": 286 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000286.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000286.json new file mode 100644 index 0000000000000000000000000000000000000000..afdfd45f329be274dd818788c97aa359474b63f6 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000286.json @@ -0,0 +1,76 @@ +{ + "episode_index": 286, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 286, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 118, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 119, + "end_frame": 208, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 209, + "end_frame": 285, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 171, + "arm": "right", + "kind": "close", + "start_frame": 164, + "end_frame": 178 + }, + { + "frame": 193, + "arm": "left", + "kind": "open", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 273, + "arm": "right", + "kind": "open", + "start_frame": 266, + "end_frame": 280 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000287.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000287.json new file mode 100644 index 0000000000000000000000000000000000000000..1c9fb097bc865e2157afb635511e3a0d12e2eb30 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000287.json @@ -0,0 +1,76 @@ +{ + "episode_index": 287, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hand over the red block to the right arm.", + "num_frames": 275, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 109, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 110, + "end_frame": 199, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 200, + "end_frame": 274, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 162, + "arm": "right", + "kind": "close", + "start_frame": 155, + "end_frame": 169 + }, + { + "frame": 184, + "arm": "left", + "kind": "open", + "start_frame": 177, + "end_frame": 191 + }, + { + "frame": 262, + "arm": "right", + "kind": "open", + "start_frame": 255, + "end_frame": 269 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000288.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000288.json new file mode 100644 index 0000000000000000000000000000000000000000..d433f07052e8a3e7690d603b11311ef607f53f9e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000288.json @@ -0,0 +1,76 @@ +{ + "episode_index": 288, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.", + "num_frames": 292, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 125, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 126, + "end_frame": 215, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 216, + "end_frame": 291, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 178, + "arm": "right", + "kind": "close", + "start_frame": 171, + "end_frame": 185 + }, + { + "frame": 200, + "arm": "left", + "kind": "open", + "start_frame": 193, + "end_frame": 207 + }, + { + "frame": 279, + "arm": "right", + "kind": "open", + "start_frame": 272, + "end_frame": 286 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000289.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000289.json new file mode 100644 index 0000000000000000000000000000000000000000..0a110f9dff69cb2c11d04774b093834f4161aa8a --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000289.json @@ -0,0 +1,76 @@ +{ + "episode_index": 289, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Place the red block onto the blue pad using the right arm.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 114, + "end_frame": 203, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 204, + "end_frame": 278, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000290.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000290.json new file mode 100644 index 0000000000000000000000000000000000000000..b1773d7dd81e50a4ed3a5e53bf212841987118c5 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000290.json @@ -0,0 +1,76 @@ +{ + "episode_index": 290, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use left arm to grab the block and hand it to the right.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 114, + "end_frame": 204, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 205, + "end_frame": 281, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000291.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000291.json new file mode 100644 index 0000000000000000000000000000000000000000..cc7aebab8a6e972a2da112b240b706cdbc65b2c7 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000291.json @@ -0,0 +1,76 @@ +{ + "episode_index": 291, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grip the red block with the left arm and transfer it.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 115, + "end_frame": 204, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 205, + "end_frame": 282, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000292.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000292.json new file mode 100644 index 0000000000000000000000000000000000000000..0ba913b6fde119cc987b0bd75d01ea4037f8b49e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000292.json @@ -0,0 +1,76 @@ +{ + "episode_index": 292, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block with the left arm and transfer to the right.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up 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"arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000293.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000293.json new file mode 100644 index 0000000000000000000000000000000000000000..7d824bdd264811af514ef8efc4bc8b01913f4646 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000293.json @@ -0,0 +1,76 @@ +{ + "episode_index": 293, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hand over the red block to the right arm.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 110, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 111, + "end_frame": 200, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 201, + "end_frame": 276, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level 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b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000294.json @@ -0,0 +1,76 @@ +{ + "episode_index": 294, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Place the red block onto the blue pad using the right arm.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 111, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 112, + "end_frame": 200, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 201, + "end_frame": 275, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 163, + "arm": "right", + "kind": "close", + "start_frame": 156, + "end_frame": 170 + }, + { + "frame": 185, + "arm": "left", + "kind": "open", + "start_frame": 178, + "end_frame": 192 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000295.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000295.json new file mode 100644 index 0000000000000000000000000000000000000000..dcdae1b99bd5dbe423166383f188ef730d5d32f7 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000295.json @@ -0,0 +1,76 @@ +{ + "episode_index": 295, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up and handover the red block.", + "num_frames": 274, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 110, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 111, + "end_frame": 200, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 201, + "end_frame": 273, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 163, + "arm": "right", + "kind": "close", + "start_frame": 156, + "end_frame": 170 + }, + { + "frame": 185, + "arm": "left", + "kind": "open", + "start_frame": 178, + "end_frame": 192 + }, + { + "frame": 261, + "arm": "right", + "kind": "open", + "start_frame": 254, + "end_frame": 268 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000296.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000296.json new file mode 100644 index 0000000000000000000000000000000000000000..0a595aebcbde6d98c98b17a72ebc6bccc317cea8 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000296.json @@ -0,0 +1,76 @@ +{ + "episode_index": 296, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pass the red block from the left to the right.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 116, + "end_frame": 205, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 206, + "end_frame": 279, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000297.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000297.json new file mode 100644 index 0000000000000000000000000000000000000000..6e0f6269f441231121ea479ba6554e07b7926408 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000297.json @@ -0,0 +1,76 @@ +{ + "episode_index": 297, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up and handover the red block.", + "num_frames": 290, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 122, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 123, + "end_frame": 212, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 213, + "end_frame": 289, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 175, + "arm": "right", + "kind": "close", + "start_frame": 168, + "end_frame": 182 + }, + { + "frame": 197, + "arm": "left", + "kind": "open", + "start_frame": 190, + "end_frame": 204 + }, + { + "frame": 277, + "arm": "right", + "kind": "open", + "start_frame": 270, + "end_frame": 284 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000298.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000298.json new file mode 100644 index 0000000000000000000000000000000000000000..01d1db637a05214119d94316b28edf6d4646fe9d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000298.json @@ -0,0 +1,76 @@ +{ + "episode_index": 298, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 114, + "end_frame": 203, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 204, + "end_frame": 277, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000299.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000299.json new file mode 100644 index 0000000000000000000000000000000000000000..d93d4b3a8f2f0b7235167cd8be9e83101f35ca1b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000299.json @@ -0,0 +1,76 @@ +{ + "episode_index": 299, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hand over the red block to the right arm.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 112, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 113, + "end_frame": 202, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 203, + "end_frame": 275, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000300.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000300.json new file mode 100644 index 0000000000000000000000000000000000000000..a39b8d82ec2f2056038135e8d0e5fd3d6375fe80 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000300.json @@ -0,0 +1,76 @@ +{ + "episode_index": 300, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grip the red block with the left arm and transfer it.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 117, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 118, + "end_frame": 207, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 208, + "end_frame": 282, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000301.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000301.json new file mode 100644 index 0000000000000000000000000000000000000000..339620ae9c60afecf154f8d33c5b258e91fa8d43 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000301.json @@ -0,0 +1,76 @@ +{ + "episode_index": 301, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.", + "num_frames": 284, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 119, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 120, + "end_frame": 209, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 210, + "end_frame": 283, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 171, + "arm": "right", + "kind": "close", + "start_frame": 164, + "end_frame": 178 + }, + { + "frame": 193, + "arm": "left", + "kind": "open", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 271, + "arm": "right", + "kind": "open", + "start_frame": 264, + "end_frame": 278 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000302.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000302.json new file mode 100644 index 0000000000000000000000000000000000000000..a100abd4d9557a9b3109394639af0d4477c036f0 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000302.json @@ -0,0 +1,76 @@ +{ + "episode_index": 302, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Move the red block using the left arm.", + "num_frames": 285, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 118, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 119, + "end_frame": 208, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 209, + "end_frame": 284, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 171, + "arm": "right", + "kind": "close", + "start_frame": 164, + "end_frame": 178 + }, + { + "frame": 193, + "arm": "left", + "kind": "open", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 272, + "arm": "right", + "kind": "open", + "start_frame": 265, + "end_frame": 279 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000303.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000303.json new file mode 100644 index 0000000000000000000000000000000000000000..292671f61910200a5f02db3f9f084dabb8d9441a --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000303.json @@ -0,0 +1,76 @@ +{ + "episode_index": 303, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 111, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 112, + "end_frame": 201, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 202, + "end_frame": 276, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000304.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000304.json new file mode 100644 index 0000000000000000000000000000000000000000..c8d827a878364f0c11b88fed9450b21138ac361b --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000304.json @@ -0,0 +1,76 @@ +{ + "episode_index": 304, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 114, + "end_frame": 203, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 204, + "end_frame": 277, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000305.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000305.json new file mode 100644 index 0000000000000000000000000000000000000000..da9def231a2174d392831b8b01bab29760a2bb30 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000305.json @@ -0,0 +1,76 @@ +{ + "episode_index": 305, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the block with the left arm, pass it to the right arm.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 115, + "end_frame": 205, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 206, + "end_frame": 281, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000306.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000306.json new file mode 100644 index 0000000000000000000000000000000000000000..bc3e4be6aeb8bb1596b3e5b4a8f8981da0ddda97 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000306.json @@ -0,0 +1,76 @@ +{ + "episode_index": 306, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 114, + "end_frame": 203, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 204, + "end_frame": 280, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000307.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000307.json new file mode 100644 index 0000000000000000000000000000000000000000..fc1ee24f8668e7bed14f28a1f729d1426034dffe --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000307.json @@ -0,0 +1,76 @@ +{ + "episode_index": 307, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Place the red block on the blue pad.", + "num_frames": 285, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 118, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 119, + "end_frame": 208, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 209, + "end_frame": 284, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 171, + "arm": "right", + "kind": "close", + "start_frame": 164, + "end_frame": 178 + }, + { + "frame": 193, + "arm": "left", + "kind": "open", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 272, + "arm": "right", + "kind": "open", + "start_frame": 265, + "end_frame": 279 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000308.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000308.json new file mode 100644 index 0000000000000000000000000000000000000000..a49ec7c9b7d904100801bf61bb7846508bb77241 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000308.json @@ -0,0 +1,76 @@ +{ + "episode_index": 308, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use left arm to grab the red block and place it on the pad.", + "num_frames": 298, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 129, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 130, + "end_frame": 219, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 220, + "end_frame": 297, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 182, + "arm": "right", + "kind": "close", + "start_frame": 175, + "end_frame": 189 + }, + { + "frame": 204, + "arm": "left", + "kind": "open", + "start_frame": 197, + "end_frame": 211 + }, + { + "frame": 285, + "arm": "right", + "kind": "open", + "start_frame": 278, + "end_frame": 292 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000309.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000309.json new file mode 100644 index 0000000000000000000000000000000000000000..014011dab3f1b1ad957ea164c498a0e7030fe6c0 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000309.json @@ -0,0 +1,76 @@ +{ + "episode_index": 309, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.", + "num_frames": 299, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 131, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 132, + "end_frame": 221, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 222, + "end_frame": 298, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 184, + "arm": "right", + "kind": "close", + "start_frame": 177, + "end_frame": 191 + }, + { + "frame": 206, + "arm": "left", + "kind": "open", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 286, + "arm": "right", + "kind": "open", + "start_frame": 279, + "end_frame": 293 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000310.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000310.json new file mode 100644 index 0000000000000000000000000000000000000000..56c90e984292a756fecefbb94d1766a7d58c5768 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000310.json @@ -0,0 +1,76 @@ +{ + "episode_index": 310, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift, switch arms, and place the red block.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 117, + "end_frame": 206, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 207, + "end_frame": 281, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000311.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000311.json new file mode 100644 index 0000000000000000000000000000000000000000..ca84612dc0885a73663eddb7d1de698b7c2f32d5 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000311.json @@ -0,0 +1,76 @@ +{ + "episode_index": 311, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift, switch arms, and place the red block.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 112, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 113, + "end_frame": 202, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 203, + "end_frame": 275, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000312.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000312.json new file mode 100644 index 0000000000000000000000000000000000000000..9cc6dc622f3764bb5651fad6f4137c3b9b3aa459 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000312.json @@ -0,0 +1,76 @@ +{ + "episode_index": 312, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block using the left arm and hand it over.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 115, + "end_frame": 204, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 205, + "end_frame": 278, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000313.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000313.json new file mode 100644 index 0000000000000000000000000000000000000000..9548ec80d011e832397da512cc7cbaf39da9bc09 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000313.json @@ -0,0 +1,76 @@ +{ + "episode_index": 313, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block and move it to the pad.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 117, + "end_frame": 206, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 207, + "end_frame": 282, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000314.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000314.json new file mode 100644 index 0000000000000000000000000000000000000000..a9bccc6bb5e18831032f6c3dbb7737c2de5b6e82 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000314.json @@ -0,0 +1,76 @@ +{ + "episode_index": 314, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hand over the red block to the right arm.", + "num_frames": 296, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 130, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 131, + "end_frame": 220, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 221, + "end_frame": 295, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 183, + "arm": "right", + "kind": "close", + "start_frame": 176, + "end_frame": 190 + }, + { + "frame": 205, + "arm": "left", + "kind": "open", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 283, + "arm": "right", + "kind": "open", + "start_frame": 276, + "end_frame": 290 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000315.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000315.json new file mode 100644 index 0000000000000000000000000000000000000000..837b5ec803588c909d2e63bd7be9781a9d790eeb --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000315.json @@ -0,0 +1,76 @@ +{ + "episode_index": 315, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 112, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 113, + "end_frame": 202, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 203, + "end_frame": 277, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000316.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000316.json new file mode 100644 index 0000000000000000000000000000000000000000..9199e7c120055da593ef453964057fa1acb8aa9c --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000316.json @@ -0,0 +1,76 @@ +{ + "episode_index": 316, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 114, + "end_frame": 203, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 204, + "end_frame": 277, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000317.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000317.json new file mode 100644 index 0000000000000000000000000000000000000000..c90afa4cba48197099258000b2805df3f7a77ebb --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000317.json @@ -0,0 +1,76 @@ +{ + "episode_index": 317, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 111, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 112, + "end_frame": 201, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 202, + "end_frame": 275, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000318.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000318.json new file mode 100644 index 0000000000000000000000000000000000000000..b0c8c906d659a341f92ea7bc7b94773b194806ef --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000318.json @@ -0,0 +1,76 @@ +{ + "episode_index": 318, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.", + "num_frames": 296, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 129, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other 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"start_frame": 276, + "end_frame": 290 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000319.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000319.json new file mode 100644 index 0000000000000000000000000000000000000000..ee3fdf0f08da6b844c0aeb212a7234e5aeffe4ce --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000319.json @@ -0,0 +1,76 @@ +{ + "episode_index": 319, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + 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"kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000320.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000320.json new file mode 100644 index 0000000000000000000000000000000000000000..ea9a69def13d497e0632c903cb3cb2c819f1da68 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000320.json @@ -0,0 +1,76 @@ +{ + "episode_index": 320, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use left arm to grab the red block and place it on the pad.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 116, + "end_frame": 205, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 206, + "end_frame": 281, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000321.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000321.json new file mode 100644 index 0000000000000000000000000000000000000000..40373cb62f0acd8c74ec0089f8d072be96e43cb0 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000321.json @@ -0,0 +1,76 @@ +{ + "episode_index": 321, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 115, + "end_frame": 204, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 205, + "end_frame": 278, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000322.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000322.json new file mode 100644 index 0000000000000000000000000000000000000000..f9e6dd89266c7e0e9ad45a7ec703b62c129dbdd3 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000322.json @@ -0,0 +1,76 @@ +{ + "episode_index": 322, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block, hand it to the right arm, then set it down.", + "num_frames": 277, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 114, + "end_frame": 203, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 204, + "end_frame": 276, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 264, + "arm": "right", + "kind": "open", + "start_frame": 257, + "end_frame": 271 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000323.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000323.json new file mode 100644 index 0000000000000000000000000000000000000000..18622d880299e54f9f590cb545f4f336307783e7 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000323.json @@ -0,0 +1,76 @@ +{ + "episode_index": 323, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block, transfer it, and set it on blue.", + "num_frames": 295, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 128, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 129, + "end_frame": 218, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 219, + "end_frame": 294, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 181, + "arm": "right", + "kind": "close", + "start_frame": 174, + "end_frame": 188 + }, + { + "frame": 203, + "arm": "left", + "kind": "open", + "start_frame": 196, + "end_frame": 210 + }, + { + "frame": 282, + "arm": "right", + "kind": "open", + "start_frame": 275, + "end_frame": 289 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000324.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000324.json new file mode 100644 index 0000000000000000000000000000000000000000..a445a9e80d7ab7b018a40973b8c363b7c71adc97 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000324.json @@ -0,0 +1,76 @@ +{ + "episode_index": 324, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block with the left arm and transfer to the 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"arm": "left", + "kind": "close", + "start_frame": 64, + "end_frame": 78 + }, + { + "frame": 197, + "arm": "right", + "kind": "close", + "start_frame": 190, + "end_frame": 204 + }, + { + "frame": 219, + "arm": "left", + "kind": "open", + "start_frame": 212, + "end_frame": 226 + }, + { + "frame": 312, + "arm": "right", + "kind": "open", + "start_frame": 305, + "end_frame": 319 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000325.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000325.json new file mode 100644 index 0000000000000000000000000000000000000000..f0194cfbe8aea6633195ca07fad6762b074d19fc --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000325.json @@ -0,0 +1,76 @@ +{ + "episode_index": 325, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 115, + "end_frame": 204, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 205, + "end_frame": 279, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000326.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000326.json new file mode 100644 index 0000000000000000000000000000000000000000..d0c657d29de5febe9f38114ea5b35825b547d6b8 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000326.json @@ -0,0 +1,76 @@ +{ + "episode_index": 326, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up and handover the red block.", + "num_frames": 310, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 144, + "end_frame": 233, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 234, + "end_frame": 309, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 196, + "arm": "right", + "kind": "close", + "start_frame": 189, + "end_frame": 203 + }, + { + "frame": 218, + "arm": "left", + "kind": "open", + "start_frame": 211, + "end_frame": 225 + }, + { + "frame": 297, + "arm": "right", + "kind": "open", + "start_frame": 290, + "end_frame": 304 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000327.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000327.json new file mode 100644 index 0000000000000000000000000000000000000000..0d5ac32b5b53f1ba134bf35b50fc73e4c84c7125 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000327.json @@ -0,0 +1,76 @@ +{ + "episode_index": 327, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.", + "num_frames": 287, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 121, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 122, + "end_frame": 211, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 212, + "end_frame": 286, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 174, + "arm": "right", + "kind": "close", + "start_frame": 167, + "end_frame": 181 + }, + { + "frame": 196, + "arm": "left", + "kind": "open", + "start_frame": 189, + "end_frame": 203 + }, + { + "frame": 274, + "arm": "right", + "kind": "open", + "start_frame": 267, + "end_frame": 281 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000328.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000328.json new file mode 100644 index 0000000000000000000000000000000000000000..a1de11875b2c079849c485b8361125c3179918d2 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000328.json @@ -0,0 +1,76 @@ +{ + "episode_index": 328, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block, transfer it, and set it on blue.", + "num_frames": 294, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 128, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 129, + "end_frame": 218, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 219, + "end_frame": 293, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 181, + "arm": "right", + "kind": "close", + "start_frame": 174, + "end_frame": 188 + }, + { + "frame": 203, + "arm": "left", + "kind": "open", + "start_frame": 196, + "end_frame": 210 + }, + { + "frame": 281, + "arm": "right", + "kind": "open", + "start_frame": 274, + "end_frame": 288 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000329.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000329.json new file mode 100644 index 0000000000000000000000000000000000000000..08b8aa3423a5f0fa3a18618106d1a48850fd045f --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000329.json @@ -0,0 +1,76 @@ +{ + "episode_index": 329, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 276, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 111, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 112, + "end_frame": 201, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 202, + "end_frame": 275, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 263, + "arm": "right", + "kind": "open", + "start_frame": 256, + "end_frame": 270 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000330.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000330.json new file mode 100644 index 0000000000000000000000000000000000000000..f0039b28d315ed4f8ad3d6fc8abbdab4ff3f3a25 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000330.json @@ -0,0 +1,76 @@ +{ + "episode_index": 330, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 115, + "end_frame": 204, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 205, + "end_frame": 277, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000331.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000331.json new file mode 100644 index 0000000000000000000000000000000000000000..81013a0474569a93f4cd69ac0fb03ac6469e4402 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000331.json @@ -0,0 +1,76 @@ +{ + "episode_index": 331, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use your arms to shift the red block.", + "num_frames": 292, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 125, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 126, + "end_frame": 215, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 216, + "end_frame": 291, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 178, + "arm": "right", + "kind": "close", + "start_frame": 171, + "end_frame": 185 + }, + { + "frame": 200, + "arm": "left", + "kind": "open", + "start_frame": 193, + "end_frame": 207 + }, + { + "frame": 279, + "arm": "right", + "kind": "open", + "start_frame": 272, + "end_frame": 286 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000332.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000332.json new file mode 100644 index 0000000000000000000000000000000000000000..65ba7a45cae045a14c14c7955ee563615cf051d2 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000332.json @@ -0,0 +1,76 @@ +{ + "episode_index": 332, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block, hand it to the right arm, then set it down.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 115, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 116, + "end_frame": 205, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 206, + "end_frame": 279, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 168, + "arm": "right", + "kind": "close", + "start_frame": 161, + "end_frame": 175 + }, + { + "frame": 190, + "arm": "left", + "kind": "open", + "start_frame": 183, + "end_frame": 197 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000333.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000333.json new file mode 100644 index 0000000000000000000000000000000000000000..d7c0a92b1a62921ee8061116a8d7828a05c19d6a --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000333.json @@ -0,0 +1,76 @@ +{ + "episode_index": 333, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use left arm to grab the block and hand it to the right.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 114, + "end_frame": 203, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 204, + "end_frame": 280, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000334.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000334.json new file mode 100644 index 0000000000000000000000000000000000000000..b472c374f1502d513519b10f3fd462f7fce96423 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000334.json @@ -0,0 +1,76 @@ +{ + "episode_index": 334, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 286, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 122, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 123, + "end_frame": 211, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 212, + "end_frame": 285, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 174, + "arm": "right", + "kind": "close", + "start_frame": 167, + "end_frame": 181 + }, + { + "frame": 196, + "arm": "left", + "kind": "open", + "start_frame": 189, + "end_frame": 203 + }, + { + "frame": 273, + "arm": "right", + "kind": "open", + "start_frame": 266, + "end_frame": 280 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000335.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000335.json new file mode 100644 index 0000000000000000000000000000000000000000..576dbe0b5991fee0f0012b80f7cce0807b19af66 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000335.json @@ -0,0 +1,76 @@ +{ + "episode_index": 335, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use left arm to grab the block and hand it to the right.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 111, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 112, + "end_frame": 201, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 202, + "end_frame": 277, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000336.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000336.json new file mode 100644 index 0000000000000000000000000000000000000000..71b7de4dc0b94d4bb8e0bd80a0c0c0bdf7c0acdf --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000336.json @@ -0,0 +1,76 @@ +{ + "episode_index": 336, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.", + "num_frames": 293, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 127, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 128, + "end_frame": 217, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 218, + "end_frame": 292, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 180, + "arm": "right", + "kind": "close", + "start_frame": 173, + "end_frame": 187 + }, + { + "frame": 202, + "arm": "left", + "kind": "open", + "start_frame": 195, + "end_frame": 209 + }, + { + "frame": 280, + "arm": "right", + "kind": "open", + "start_frame": 273, + "end_frame": 287 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000337.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000337.json new file mode 100644 index 0000000000000000000000000000000000000000..9f104f93171cc71ec864f4f8810472d204ed5c3e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000337.json @@ -0,0 +1,76 @@ +{ + "episode_index": 337, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift, switch arms, and place the red block.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 115, + "end_frame": 204, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 205, + "end_frame": 279, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000338.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000338.json new file mode 100644 index 0000000000000000000000000000000000000000..86a07ff87d44b1f575b490a8db2708e6db958cef --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000338.json @@ -0,0 +1,76 @@ +{ + "episode_index": 338, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block with the 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"frame": 63, + "arm": "left", + "kind": "close", + "start_frame": 56, + "end_frame": 70 + }, + { + "frame": 180, + "arm": "right", + "kind": "close", + "start_frame": 173, + "end_frame": 187 + }, + { + "frame": 202, + "arm": "left", + "kind": "open", + "start_frame": 195, + "end_frame": 209 + }, + { + "frame": 282, + "arm": "right", + "kind": "open", + "start_frame": 275, + "end_frame": 289 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000339.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000339.json new file mode 100644 index 0000000000000000000000000000000000000000..86701bb68f900b4ed06a2c1132bc9b7f2c51de15 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000339.json @@ -0,0 +1,76 @@ +{ + "episode_index": 339, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block, transfer it, and set it on blue.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 112, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 113, + "end_frame": 202, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 203, + "end_frame": 277, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 265, + "arm": "right", + "kind": "open", + "start_frame": 258, + "end_frame": 272 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000340.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000340.json new file mode 100644 index 0000000000000000000000000000000000000000..50a741710fcd68fb50500b7fd86ae2474e6e8cd0 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000340.json @@ -0,0 +1,76 @@ +{ + "episode_index": 340, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block with the left hand and pass it.", + "num_frames": 281, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 115, + "end_frame": 204, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 205, + "end_frame": 280, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 268, + "arm": "right", + "kind": "open", + "start_frame": 261, + "end_frame": 275 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000341.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000341.json new file mode 100644 index 0000000000000000000000000000000000000000..9968f25f6999029b6cab33cf48b55b5437d7efb5 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000341.json @@ -0,0 +1,76 @@ +{ + "episode_index": 341, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block, hand it over, and place it properly.", + "num_frames": 298, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 132, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 133, + "end_frame": 222, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 223, + "end_frame": 297, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 185, + "arm": "right", + "kind": "close", + "start_frame": 178, + "end_frame": 192 + }, + { + "frame": 207, + "arm": "left", + "kind": "open", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 285, + "arm": "right", + "kind": "open", + "start_frame": 278, + "end_frame": 292 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000342.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000342.json new file mode 100644 index 0000000000000000000000000000000000000000..a5f73b9ff5dd3e340a93a6424cfe9a6981ee613a --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000342.json @@ -0,0 +1,76 @@ +{ + "episode_index": 342, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.", + "num_frames": 292, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 124, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 125, + "end_frame": 214, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 215, + "end_frame": 291, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 177, + "arm": "right", + "kind": "close", + "start_frame": 170, + "end_frame": 184 + }, + { + "frame": 199, + "arm": "left", + "kind": "open", + "start_frame": 192, + "end_frame": 206 + }, + { + "frame": 279, + "arm": "right", + "kind": "open", + "start_frame": 272, + "end_frame": 286 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000343.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000343.json new file mode 100644 index 0000000000000000000000000000000000000000..83e311dd8829e601041bb2427e906d3ee5328b6f --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000343.json @@ -0,0 +1,76 @@ +{ + "episode_index": 343, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Set the red block on the blue pad gently.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 111, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 112, + "end_frame": 201, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 202, + "end_frame": 279, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 164, + "arm": "right", + "kind": "close", + "start_frame": 157, + "end_frame": 171 + }, + { + "frame": 186, + "arm": "left", + "kind": "open", + "start_frame": 179, + "end_frame": 193 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000344.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000344.json new file mode 100644 index 0000000000000000000000000000000000000000..c3ffb198168f9956514eacf9c032cc2fb1109a0c --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000344.json @@ -0,0 +1,76 @@ +{ + "episode_index": 344, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.", + "num_frames": 296, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 129, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 130, + "end_frame": 220, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 221, + "end_frame": 295, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 183, + "arm": "right", + "kind": "close", + "start_frame": 176, + "end_frame": 190 + }, + { + "frame": 205, + "arm": "left", + "kind": "open", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 283, + "arm": "right", + "kind": "open", + "start_frame": 276, + "end_frame": 290 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000345.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000345.json new file mode 100644 index 0000000000000000000000000000000000000000..0fbea8bf4977fb6e0c089cc4efde62ce718a657d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000345.json @@ -0,0 +1,76 @@ +{ + "episode_index": 345, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use your arms to shift the red block.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 112, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 113, + "end_frame": 202, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 203, + "end_frame": 279, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000346.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000346.json new file mode 100644 index 0000000000000000000000000000000000000000..71603dbe203590b216b84e61283144d0a849b56e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000346.json @@ -0,0 +1,76 @@ +{ + "episode_index": 346, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.", + "num_frames": 290, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 124, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block 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b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000349.json @@ -0,0 +1,76 @@ +{ + "episode_index": 349, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 112, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 113, + "end_frame": 202, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 203, + "end_frame": 278, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 165, + "arm": "right", + "kind": "close", + "start_frame": 158, + "end_frame": 172 + }, + { + "frame": 187, + "arm": "left", + "kind": "open", + "start_frame": 180, + "end_frame": 194 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000350.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000350.json new file mode 100644 index 0000000000000000000000000000000000000000..7af16ff3fb194961d78195e56a758173c5374f37 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000350.json @@ -0,0 +1,76 @@ +{ + "episode_index": 350, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 117, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block 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"open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000351.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000351.json new file mode 100644 index 0000000000000000000000000000000000000000..b0ceb9d0e00bc4ecdae83b5910cb04d17d406dcc --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000351.json @@ -0,0 +1,76 @@ +{ + "episode_index": 351, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab red block, pass to the right arm, then drop on blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 114, + "end_frame": 203, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 204, + "end_frame": 278, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000352.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000352.json new file mode 100644 index 0000000000000000000000000000000000000000..a89fdc426e6f020d4ddeb027a337f981725f5e8f --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000352.json @@ -0,0 +1,76 @@ +{ + "episode_index": 352, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take 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"detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 175, + "arm": "right", + "kind": "close", + "start_frame": 168, + "end_frame": 182 + }, + { + "frame": 197, + "arm": "left", + "kind": "open", + "start_frame": 190, + "end_frame": 204 + }, + { + "frame": 276, + "arm": "right", + "kind": "open", + "start_frame": 269, + "end_frame": 283 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000353.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000353.json new file mode 100644 index 0000000000000000000000000000000000000000..35d88e1a64c15c8d953642b896759c0eac992340 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000353.json @@ -0,0 +1,76 @@ +{ + "episode_index": 353, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.", + "num_frames": 287, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 121, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 122, + "end_frame": 211, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 212, + "end_frame": 286, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 174, + "arm": "right", + "kind": "close", + "start_frame": 167, + "end_frame": 181 + }, + { + "frame": 196, + "arm": "left", + "kind": "open", + "start_frame": 189, + "end_frame": 203 + }, + { + "frame": 274, + "arm": "right", + "kind": "open", + "start_frame": 267, + "end_frame": 281 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000354.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000354.json new file mode 100644 index 0000000000000000000000000000000000000000..0bdc524add2ccf2d0483fede6b9ba65d5d68f049 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000354.json @@ -0,0 +1,76 @@ +{ + "episode_index": 354, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Hand the red block to the right arm.", + "num_frames": 288, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 119, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 120, + "end_frame": 209, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 210, + "end_frame": 287, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 172, + "arm": "right", + "kind": "close", + "start_frame": 165, + "end_frame": 179 + }, + { + "frame": 194, + "arm": "left", + "kind": "open", + "start_frame": 187, + "end_frame": 201 + }, + { + "frame": 275, + "arm": "right", + "kind": "open", + "start_frame": 268, + "end_frame": 282 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000355.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000355.json new file mode 100644 index 0000000000000000000000000000000000000000..52481c855d03bca0d2d25df8ee1c3df6ccceb060 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000355.json @@ -0,0 +1,76 @@ +{ + "episode_index": 355, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block, hand it to the right arm, then set it down.", + "num_frames": 293, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 125, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 126, + "end_frame": 215, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 216, + "end_frame": 292, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 178, + "arm": "right", + "kind": "close", + "start_frame": 171, + "end_frame": 185 + }, + { + "frame": 200, + "arm": "left", + "kind": "open", + "start_frame": 193, + "end_frame": 207 + }, + { + "frame": 280, + "arm": "right", + "kind": "open", + "start_frame": 273, + "end_frame": 287 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000356.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000356.json new file mode 100644 index 0000000000000000000000000000000000000000..a3673abe2f4a599d303dfaf9eaa81c10b5783693 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000356.json @@ -0,0 +1,76 @@ +{ + "episode_index": 356, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block using the left arm and hand it over.", + "num_frames": 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+ "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Take the red block using the left arm and hand it over.", + "num_frames": 278, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 111, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 112, + "end_frame": 201, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 202, + "end_frame": 277, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": 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0000000000000000000000000000000000000000..e8f3a8e2d9936cbbebeccf419cff5767da815801 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000358.json @@ -0,0 +1,76 @@ +{ + "episode_index": 358, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use your arms to shift the red block.", + "num_frames": 282, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 115, + "end_frame": 204, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 205, + "end_frame": 281, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 167, + "arm": "right", + "kind": "close", + "start_frame": 160, + "end_frame": 174 + }, + { + "frame": 189, + "arm": "left", + "kind": "open", + "start_frame": 182, + "end_frame": 196 + }, + { + "frame": 269, + "arm": "right", + "kind": "open", + "start_frame": 262, + "end_frame": 276 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000359.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000359.json new file mode 100644 index 0000000000000000000000000000000000000000..802d0bced616dd6404014573ae75b26eb10214c7 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000359.json @@ -0,0 +1,76 @@ +{ + "episode_index": 359, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 114, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other 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"start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000360.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000360.json new file mode 100644 index 0000000000000000000000000000000000000000..23efecf52de8928c7901b2bdb07f4b1fd33c70ae --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000360.json @@ -0,0 +1,76 @@ +{ + "episode_index": 360, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 291, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + 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"kind": "close", + "start_frame": 169, + "end_frame": 183 + }, + { + "frame": 198, + "arm": "left", + "kind": "open", + "start_frame": 191, + "end_frame": 205 + }, + { + "frame": 278, + "arm": "right", + "kind": "open", + "start_frame": 271, + "end_frame": 285 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000361.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000361.json new file mode 100644 index 0000000000000000000000000000000000000000..5eca5d5bed38e5b9b4a62721bd64b5f86910d538 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000361.json @@ -0,0 +1,76 @@ +{ + "episode_index": 361, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.", + "num_frames": 279, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 114, + "end_frame": 203, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 204, + "end_frame": 278, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 266, + "arm": "right", + "kind": "open", + "start_frame": 259, + "end_frame": 273 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000362.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000362.json new file mode 100644 index 0000000000000000000000000000000000000000..d96c1dc5b0d202d037c7e466bc5f26faf848741e --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000362.json @@ -0,0 +1,76 @@ +{ + "episode_index": 362, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 297, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 129, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 130, + "end_frame": 219, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 220, + "end_frame": 296, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 182, + "arm": "right", + "kind": "close", + "start_frame": 175, + "end_frame": 189 + }, + { + "frame": 204, + "arm": "left", + "kind": "open", + "start_frame": 197, + "end_frame": 211 + }, + { + "frame": 284, + "arm": "right", + "kind": "open", + "start_frame": 277, + "end_frame": 291 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000363.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000363.json new file mode 100644 index 0000000000000000000000000000000000000000..848e57dfbb5b432da36fe49bb034cd1d842597e9 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000363.json @@ -0,0 +1,76 @@ +{ + "episode_index": 363, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Grab the red block, hand it to the right arm, then set it down.", + "num_frames": 290, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 125, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 126, + "end_frame": 214, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 215, + "end_frame": 289, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 177, + "arm": "right", + "kind": "close", + "start_frame": 170, + "end_frame": 184 + }, + { + "frame": 199, + "arm": "left", + "kind": "open", + "start_frame": 192, + "end_frame": 206 + }, + { + "frame": 277, + "arm": "right", + "kind": "open", + "start_frame": 270, + "end_frame": 284 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000364.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000364.json new file mode 100644 index 0000000000000000000000000000000000000000..8072a3eb36ab6fed00c9bbf60b6cdd6d72d2ec4d --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000364.json @@ -0,0 +1,76 @@ +{ + "episode_index": 364, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "The left arm should grab the red block, hand it to the right, and put it on the blue pad.", + "num_frames": 287, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + 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"start_frame": 167, + "end_frame": 181 + }, + { + "frame": 196, + "arm": "left", + "kind": "open", + "start_frame": 189, + "end_frame": 203 + }, + { + "frame": 274, + "arm": "right", + "kind": "open", + "start_frame": 267, + "end_frame": 281 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000365.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000365.json new file mode 100644 index 0000000000000000000000000000000000000000..dc3a4a99cc2e41d4d7a333885bdbd11335688ce2 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000365.json @@ -0,0 +1,76 @@ +{ + "episode_index": 365, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Move the red block from the left hand to the pad.", + "num_frames": 306, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 230, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 231, + "end_frame": 305, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 193, + "arm": "right", + "kind": "close", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 215, + "arm": "left", + "kind": "open", + "start_frame": 208, + "end_frame": 222 + }, + { + "frame": 293, + "arm": "right", + "kind": "open", + "start_frame": 286, + "end_frame": 300 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000366.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000366.json new file mode 100644 index 0000000000000000000000000000000000000000..eddb6f201607090aac1abe8f6339bdb1c2741410 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000366.json @@ -0,0 +1,76 @@ +{ + "episode_index": 366, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.", + "num_frames": 284, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 117, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 118, + "end_frame": 207, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 208, + "end_frame": 283, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 170, + "arm": "right", + "kind": "close", + "start_frame": 163, + "end_frame": 177 + }, + { + "frame": 192, + "arm": "left", + "kind": "open", + "start_frame": 185, + "end_frame": 199 + }, + { + "frame": 271, + "arm": "right", + "kind": "open", + "start_frame": 264, + "end_frame": 278 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000367.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000367.json new file mode 100644 index 0000000000000000000000000000000000000000..86b3568d967954b7bea92df1d5fb1e2febe37c62 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000367.json @@ -0,0 +1,76 @@ +{ + "episode_index": 367, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Lift the red block with your left arm.", + "num_frames": 286, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 118, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 119, + "end_frame": 208, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 209, + "end_frame": 285, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 171, + "arm": "right", + "kind": "close", + "start_frame": 164, + "end_frame": 178 + }, + { + "frame": 193, + "arm": "left", + "kind": "open", + "start_frame": 186, + "end_frame": 200 + }, + { + "frame": 273, + "arm": "right", + "kind": "open", + "start_frame": 266, + "end_frame": 280 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000368.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000368.json new file mode 100644 index 0000000000000000000000000000000000000000..340960adadf40df5f7e2bff3559c41b40d1842d2 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000368.json @@ -0,0 +1,76 @@ +{ + "episode_index": 368, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up and handover the red block.", + "num_frames": 283, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 116, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 117, + "end_frame": 206, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 207, + "end_frame": 282, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 169, + "arm": "right", + "kind": "close", + "start_frame": 162, + "end_frame": 176 + }, + { + "frame": 191, + "arm": "left", + "kind": "open", + "start_frame": 184, + "end_frame": 198 + }, + { + "frame": 270, + "arm": "right", + "kind": "open", + "start_frame": 263, + "end_frame": 277 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000369.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000369.json new file mode 100644 index 0000000000000000000000000000000000000000..f134a28cf3ef757126056aba43cf3bb9aacc093c --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000369.json @@ -0,0 +1,76 @@ +{ + "episode_index": 369, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.", + "num_frames": 280, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 113, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 114, + "end_frame": 203, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 204, + "end_frame": 279, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 166, + "arm": "right", + "kind": "close", + "start_frame": 159, + "end_frame": 173 + }, + { + "frame": 188, + "arm": "left", + "kind": "open", + "start_frame": 181, + "end_frame": 195 + }, + { + "frame": 267, + "arm": "right", + "kind": "open", + "start_frame": 260, + "end_frame": 274 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000370.json b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000370.json new file mode 100644 index 0000000000000000000000000000000000000000..0a82e819e4010d51e3a16abf4202138b9ebf471c --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_semantic/episode_000370.json @@ -0,0 +1,76 @@ +{ + "episode_index": 370, + "repo": "handover_block-aloha-agilex_randomized_500", + "task_slug": "handover_block", + "task_goal": "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.", + "num_frames": 290, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pick up the red block.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 119, + "boundary_source": "atomic_1_3", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Transfer the red block to the other hand.", + "subtask_type": "semantic", + "start_frame": 120, + "end_frame": 209, + "boundary_source": "atomic_4_6", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 2, + "subtask_goal": "Place the red block on the blue pad.", + "subtask_type": "semantic", + "start_frame": 210, + "end_frame": 289, + "boundary_source": "atomic_7_9", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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": 172, + "arm": "right", + "kind": "close", + "start_frame": 165, + "end_frame": 179 + }, + { + "frame": 194, + "arm": "left", + "kind": "open", + "start_frame": 187, + "end_frame": 201 + }, + { + "frame": 277, + "arm": "right", + "kind": "open", + "start_frame": 270, + "end_frame": 284 + } + ], + "scene_info": {}, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +}