diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000123.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000123.json new file mode 100644 index 0000000000000000000000000000000000000000..728feb84de01b263754d420a2cd8bc5033de74c7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000123.json @@ -0,0 +1,53 @@ +{ + "episode_index": 123, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the smooth plastic tabletrashbin and dump its balls.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000124.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000124.json new file mode 100644 index 0000000000000000000000000000000000000000..f446731d62e3469cbcfb56ff06652f16cc69670a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000124.json @@ -0,0 +1,39 @@ +{ + "episode_index": 124, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the tabletrashbin and transfer balls to the bin.", + "num_frames": 164, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 163, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000125.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000125.json new file mode 100644 index 0000000000000000000000000000000000000000..a296e4e817fae95e798daccaf4d5613a64035767 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000125.json @@ -0,0 +1,39 @@ +{ + "episode_index": 125, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the light gray bucket-shaped waste bin, pour the balls into big bin", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000126.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000126.json new file mode 100644 index 0000000000000000000000000000000000000000..8b9877743331e450431eb128d130e826ed938fa4 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000126.json @@ -0,0 +1,53 @@ +{ + "episode_index": 126, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the smooth plastic tabletrashbin, pour into the big bin.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000127.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000127.json new file mode 100644 index 0000000000000000000000000000000000000000..8c0eeb4e8c9aac0213c6451fd954f21d23c3be4c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000127.json @@ -0,0 +1,39 @@ +{ + "episode_index": 127, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to lift the black-specked gray tabletrashbin and empty it.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000128.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000128.json new file mode 100644 index 0000000000000000000000000000000000000000..e8fb89b6f79a922bb4d5396b8a08b85629f9f4e2 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000128.json @@ -0,0 +1,53 @@ +{ + "episode_index": 128, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the desk-sized white tabletrashbin and pour it out.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000129.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000129.json new file mode 100644 index 0000000000000000000000000000000000000000..7455fe0b12d56a4af713dbbd4378cdac60dfdd4c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000129.json @@ -0,0 +1,39 @@ +{ + "episode_index": 129, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the lightweight trash container using the arm to pour balls.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000130.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000130.json new file mode 100644 index 0000000000000000000000000000000000000000..3c697aade6f59e0d07917505adbc279cb482d9b9 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000130.json @@ -0,0 +1,39 @@ +{ + "episode_index": 130, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the small white trashbin, pour into the big bin.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000131.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000131.json new file mode 100644 index 0000000000000000000000000000000000000000..5ce65ef6db4ecf5264b4210979bc2ae5bd4703eb --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000131.json @@ -0,0 +1,39 @@ +{ + "episode_index": 131, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the small white trashbin and pour it out.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000132.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000132.json new file mode 100644 index 0000000000000000000000000000000000000000..137349eae1a3cd3cd2a4e5cdb75831dd89d04714 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000132.json @@ -0,0 +1,39 @@ +{ + "episode_index": 132, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the black-specked gray tabletrashbin, then pour the balls.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000133.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000133.json new file mode 100644 index 0000000000000000000000000000000000000000..3f80b97c5e6d73f347e008be003e061643473e79 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000133.json @@ -0,0 +1,53 @@ +{ + "episode_index": 133, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the tabletrashbin and pour the balls.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000134.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000134.json new file mode 100644 index 0000000000000000000000000000000000000000..ff611c959a4c9b53c0b6a5d9a71c58a4472a70ae --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000134.json @@ -0,0 +1,53 @@ +{ + "episode_index": 134, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the mini white trashbin for desk and pour.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000135.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000135.json new file mode 100644 index 0000000000000000000000000000000000000000..98db749010dc4c46fe8bf3d6132422a4f84f9016 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000135.json @@ -0,0 +1,53 @@ +{ + "episode_index": 135, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the white round tabletrashbin and pour the balls.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 136, + "arm": "right", + "kind": "open", + "start_frame": 129, + "end_frame": 143 + }, + { + "frame": 223, + "arm": "left", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000136.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000136.json new file mode 100644 index 0000000000000000000000000000000000000000..3dd029ffe1ef9e991aa1462bcc2ebe82cbe85b3b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000136.json @@ -0,0 +1,39 @@ +{ + "episode_index": 136, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the small white trashbin using the arm, pour balls.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000137.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000137.json new file mode 100644 index 0000000000000000000000000000000000000000..c1d4bf1d0129d98d92fc0ea31c9ba66f646ddcee --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000137.json @@ -0,0 +1,53 @@ +{ + "episode_index": 137, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the cylindrical tabletrashbin and transfer balls to the bin.", + "num_frames": 323, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 322, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "right", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000138.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000138.json new file mode 100644 index 0000000000000000000000000000000000000000..fd96ac2df0e11c42e3ee3d81a3ea4607edd25da1 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000138.json @@ -0,0 +1,53 @@ +{ + "episode_index": 138, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the dark gray cylindrical tabletrashbin, then pour contents.", + "num_frames": 325, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 324, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "left", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000139.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000139.json new file mode 100644 index 0000000000000000000000000000000000000000..db9926ee7973dd7876ede15e7c04b1c764b3e48b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000139.json @@ -0,0 +1,53 @@ +{ + "episode_index": 139, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the small tabletop trashbin and empty its contents.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000140.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000140.json new file mode 100644 index 0000000000000000000000000000000000000000..8bdd5b5c9cd772155739b019d4c1007fb2b3d44e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000140.json @@ -0,0 +1,53 @@ +{ + "episode_index": 140, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to grab the white cylindrical waste bin, dump contents", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000141.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000141.json new file mode 100644 index 0000000000000000000000000000000000000000..84c049a7cd2d707c8f643d2733618ae446055e0d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000141.json @@ -0,0 +1,39 @@ +{ + "episode_index": 141, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the tabletrashbin for tabletop trash and pour.", + "num_frames": 164, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 163, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000142.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000142.json new file mode 100644 index 0000000000000000000000000000000000000000..e3f46179cf75cacd5c566e79439e85540cdf0289 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000142.json @@ -0,0 +1,53 @@ +{ + "episode_index": 142, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the compact tabletop trashbin and pour carefully.", + "num_frames": 326, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 325, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 123, + "arm": "right", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 210, + "arm": "left", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000143.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000143.json new file mode 100644 index 0000000000000000000000000000000000000000..c4c2a48f00a22fc20180e575a9eca64e64929760 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000143.json @@ -0,0 +1,53 @@ +{ + "episode_index": 143, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the open-top tabletrashbin and empty its contents.", + "num_frames": 322, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 321, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 123, + "arm": "right", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 211, + "arm": "left", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000144.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000144.json new file mode 100644 index 0000000000000000000000000000000000000000..1a7add3bf17d6f41b3af749ffe93b528cd6a1744 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000144.json @@ -0,0 +1,53 @@ +{ + "episode_index": 144, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the cylindrical small white trashbin, empty into the big bin", + "num_frames": 325, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 324, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000145.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000145.json new file mode 100644 index 0000000000000000000000000000000000000000..b888f9b08820e5f5c7c0a599437bed26812fc9cf --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000145.json @@ -0,0 +1,39 @@ +{ + "episode_index": 145, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the cylindrical small white trashbin, empty into the big bin", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000146.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000146.json new file mode 100644 index 0000000000000000000000000000000000000000..e08d0cbef816c82349c261b6cdb22d39c0b28a22 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000146.json @@ -0,0 +1,53 @@ +{ + "episode_index": 146, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Move the arm, take the tabletrashbin, and pour.", + "num_frames": 343, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 342, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 135, + "arm": "right", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + }, + { + "frame": 223, + "arm": "left", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000147.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000147.json new file mode 100644 index 0000000000000000000000000000000000000000..489f6d092f6ddb3a55aec56adc0275a325ff2851 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000147.json @@ -0,0 +1,53 @@ +{ + "episode_index": 147, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the light gray waste container, dump balls in big bin", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 135, + "arm": "right", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + }, + { + "frame": 223, + "arm": "left", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000148.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000148.json new file mode 100644 index 0000000000000000000000000000000000000000..7ef9a35863b7b961fc113982354e0dab0750f472 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000148.json @@ -0,0 +1,53 @@ +{ + "episode_index": 148, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the cylindrical tabletrashbin with flared rim, pour contents into big bin", + "num_frames": 344, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 343, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 137, + "arm": "right", + "kind": "open", + "start_frame": 130, + "end_frame": 144 + }, + { + "frame": 225, + "arm": "left", + "kind": "close", + "start_frame": 218, + "end_frame": 232 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000149.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000149.json new file mode 100644 index 0000000000000000000000000000000000000000..9dab8afcd195f6e01f099329c473313785d35532 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000149.json @@ -0,0 +1,53 @@ +{ + "episode_index": 149, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the white round tabletrashbin and pour contents down.", + "num_frames": 320, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 319, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 120, + "arm": "right", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 206, + "arm": "left", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000150.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000150.json new file mode 100644 index 0000000000000000000000000000000000000000..b006f8996e78734000818a593a343bf1912e2853 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000150.json @@ -0,0 +1,39 @@ +{ + "episode_index": 150, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the tabletrashbin for holding waste and pour contents down.", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000151.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000151.json new file mode 100644 index 0000000000000000000000000000000000000000..b0d2ddfea3f6744948fe7271da13182860542cba --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000151.json @@ -0,0 +1,53 @@ +{ + "episode_index": 151, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Raise the cylindrical tabletrashbin with flared rim to dump its contents out.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000152.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000152.json new file mode 100644 index 0000000000000000000000000000000000000000..f8c12f3034d4fec96b5c7a3e84e29a28a0b8cbda --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000152.json @@ -0,0 +1,39 @@ +{ + "episode_index": 152, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the bucket-shaped gray trashbin and pour the balls out.", + "num_frames": 175, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 174, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000153.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000153.json new file mode 100644 index 0000000000000000000000000000000000000000..2a7473640901df07a1fb0cc22b3c47b367d7ad21 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000153.json @@ -0,0 +1,53 @@ +{ + "episode_index": 153, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift up the open-top tabletrashbin, then pour balls.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 220, + "arm": "left", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000154.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000154.json new file mode 100644 index 0000000000000000000000000000000000000000..c95331ee5675938756c675eec78d56861be2926f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000154.json @@ -0,0 +1,39 @@ +{ + "episode_index": 154, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the white round tabletrashbin, dump balls in big bin", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000155.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000155.json new file mode 100644 index 0000000000000000000000000000000000000000..1e40ed99ac212124ea4277b5af4598ad08fe86c4 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000155.json @@ -0,0 +1,39 @@ +{ + "episode_index": 155, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the white bin with flared top edge and pour contents.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000156.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000156.json new file mode 100644 index 0000000000000000000000000000000000000000..2c9549c33f99b1cd68f9fe742653d53c994bfcb3 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000156.json @@ -0,0 +1,39 @@ +{ + "episode_index": 156, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the white round tabletrashbin and pour it out.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000157.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000157.json new file mode 100644 index 0000000000000000000000000000000000000000..9ddc7c071b9130e4d3dd9020dcf6df8aaa5c0888 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000157.json @@ -0,0 +1,39 @@ +{ + "episode_index": 157, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grasp the gray tabletrashbin and empty it out.", + "num_frames": 175, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 174, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000158.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000158.json new file mode 100644 index 0000000000000000000000000000000000000000..ceb025b7169253bd408c21e73265f2873ff90cba --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000158.json @@ -0,0 +1,39 @@ +{ + "episode_index": 158, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to grab the tabletrashbin for holding waste and pour.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000159.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000159.json new file mode 100644 index 0000000000000000000000000000000000000000..8ce70d78f086c2351575510d0d71491e88fe56d6 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000159.json @@ -0,0 +1,39 @@ +{ + "episode_index": 159, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift up the tabletrashbin for holding waste, then pour balls.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000160.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000160.json new file mode 100644 index 0000000000000000000000000000000000000000..9889b9e371c078a876e43e70db299857ff7598f8 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000160.json @@ -0,0 +1,39 @@ +{ + "episode_index": 160, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the simple white plastic trashbin, pour its contents out.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000161.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000161.json new file mode 100644 index 0000000000000000000000000000000000000000..a442542b8ea61456cb5434d51968b13383f9d5d3 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000161.json @@ -0,0 +1,53 @@ +{ + "episode_index": 161, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to grab the light gray tabletrashbin, dump contents", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 219, + "arm": "left", + "kind": "close", + "start_frame": 212, + "end_frame": 226 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000162.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000162.json new file mode 100644 index 0000000000000000000000000000000000000000..bc9226e1d1fa3ecedb3613a20b57258680167101 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000162.json @@ -0,0 +1,39 @@ +{ + "episode_index": 162, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the white bin with flared top edge using the arm, pour balls.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000163.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000163.json new file mode 100644 index 0000000000000000000000000000000000000000..704c1e9f9219db2f0143182ee2f02ba2eef80f49 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000163.json @@ -0,0 +1,53 @@ +{ + "episode_index": 163, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the light gray waste container and pour the balls out.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000164.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000164.json new file mode 100644 index 0000000000000000000000000000000000000000..d0a8370ad918c556250e95087bde7525192fcfb7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000164.json @@ -0,0 +1,39 @@ +{ + "episode_index": 164, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the light gray tabletrashbin and empty it into the bin.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 51, + "arm": "left", + "kind": "close", + "start_frame": 44, + "end_frame": 58 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000165.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000165.json new file mode 100644 index 0000000000000000000000000000000000000000..63877ec1308f465c546317adb98ff51e2d541906 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000165.json @@ -0,0 +1,39 @@ +{ + "episode_index": 165, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the tabletrashbin with slightly flared top and pour the balls.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000166.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000166.json new file mode 100644 index 0000000000000000000000000000000000000000..bf53c49a8abc71724796d14352aabe2575835193 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000166.json @@ -0,0 +1,39 @@ +{ + "episode_index": 166, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the simple tabletop trashbin and pour the balls.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000167.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000167.json new file mode 100644 index 0000000000000000000000000000000000000000..b977039ffec3269e55ef2554f6178c4995e14a1d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000167.json @@ -0,0 +1,39 @@ +{ + "episode_index": 167, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the light gray cylindrical trashbin to pour the balls out.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000168.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000168.json new file mode 100644 index 0000000000000000000000000000000000000000..aa4081bed0195d6fbc70d1630c910ef53c999d31 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000168.json @@ -0,0 +1,53 @@ +{ + "episode_index": 168, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the mini white trashbin for desk and pour into bin.", + "num_frames": 322, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 321, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000169.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000169.json new file mode 100644 index 0000000000000000000000000000000000000000..1c4c799dc00f9488cd68724af34ea6269efd9cee --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000169.json @@ -0,0 +1,39 @@ +{ + "episode_index": 169, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the light gray tabletrashbin and transfer balls to the bin.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000170.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000170.json new file mode 100644 index 0000000000000000000000000000000000000000..738a4ffc3d44b7d1f4afb3ac0be13e6743bc2d52 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000170.json @@ -0,0 +1,39 @@ +{ + "episode_index": 170, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the white round tabletrashbin and dump the balls.", + "num_frames": 155, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 154, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000171.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000171.json new file mode 100644 index 0000000000000000000000000000000000000000..0f200e01b11ca0e6184e07ab310bbb3433ab5141 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000171.json @@ -0,0 +1,53 @@ +{ + "episode_index": 171, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the plastic tabletrashbin with dark pattern, then pour the balls.", + "num_frames": 344, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 343, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000172.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000172.json new file mode 100644 index 0000000000000000000000000000000000000000..a635f30d56250d0002cb1ab302573cb74206d1c4 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000172.json @@ -0,0 +1,53 @@ +{ + "episode_index": 172, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the cylindrical tabletrashbin with flared rim and pour its contents into bin.", + "num_frames": 320, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 319, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000173.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000173.json new file mode 100644 index 0000000000000000000000000000000000000000..2d36f10b3b92629c9df8623e5afca8fc4512bc93 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000173.json @@ -0,0 +1,53 @@ +{ + "episode_index": 173, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the small tabletrashbin, pour contents.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 326, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000174.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000174.json new file mode 100644 index 0000000000000000000000000000000000000000..7dbba3939920d6703c37e138ba84c9783fa0c208 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000174.json @@ -0,0 +1,53 @@ +{ + "episode_index": 174, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Raise the gray plastic trashbin to dump its contents out.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000175.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000175.json new file mode 100644 index 0000000000000000000000000000000000000000..a763f4e0e7812d95aa407a41fd20e2986586abe2 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000175.json @@ -0,0 +1,39 @@ +{ + "episode_index": 175, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the tabletrashbin for holding waste, pour into the big bin.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000176.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000176.json new file mode 100644 index 0000000000000000000000000000000000000000..4f82a1f14e9d3e21649acda1494fa4b0ce6bb03e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000176.json @@ -0,0 +1,39 @@ +{ + "episode_index": 176, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the open-top tabletrashbin with arm and pour contents", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000177.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000177.json new file mode 100644 index 0000000000000000000000000000000000000000..f4eb7018e4e1c2e1a9bab59526e707a2ca133638 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000177.json @@ -0,0 +1,53 @@ +{ + "episode_index": 177, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the light gray cylindrical trashbin and pour the balls.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000178.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000178.json new file mode 100644 index 0000000000000000000000000000000000000000..022224161c0cec5acf65900361d4c5106b674ff2 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000178.json @@ -0,0 +1,39 @@ +{ + "episode_index": 178, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the light gray cylindrical trashbin and pour carefully.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000179.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000179.json new file mode 100644 index 0000000000000000000000000000000000000000..a1a33b5abb216255e1dc6b39e8dc592cb30133eb --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000179.json @@ -0,0 +1,39 @@ +{ + "episode_index": 179, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the mini white trashbin for desk and pour carefully.", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000180.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000180.json new file mode 100644 index 0000000000000000000000000000000000000000..2b66adfa56c04f55b7b79779181af23a56edc11d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000180.json @@ -0,0 +1,53 @@ +{ + "episode_index": 180, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the dark gray cylindrical tabletrashbin, pour its contents away.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000181.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000181.json new file mode 100644 index 0000000000000000000000000000000000000000..b56568adb7e2e940534fa6f2c346669388dc439b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000181.json @@ -0,0 +1,39 @@ +{ + "episode_index": 181, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to pick the white bin with flared top edge, pour in bin", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000182.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000182.json new file mode 100644 index 0000000000000000000000000000000000000000..255dcc47ce724f5e95dd2eda2bc705cecb3c1968 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000182.json @@ -0,0 +1,39 @@ +{ + "episode_index": 182, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the white bin with flared top edge, then pour balls into the bin.", + "num_frames": 164, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 163, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000183.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000183.json new file mode 100644 index 0000000000000000000000000000000000000000..aab8b45aa497c7cb0b74d867c7b095008c78ace8 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000183.json @@ -0,0 +1,39 @@ +{ + "episode_index": 183, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift up the tabletrashbin made of plastic, then pour balls.", + "num_frames": 158, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 157, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000184.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000184.json new file mode 100644 index 0000000000000000000000000000000000000000..129965e90d898fa8369cf58b8f11b8f6f2126447 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000184.json @@ -0,0 +1,39 @@ +{ + "episode_index": 184, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the open gray tabletrashbin and pour contents down.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000185.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000185.json new file mode 100644 index 0000000000000000000000000000000000000000..144dedf490a884108dfc1cf177b52463909514b7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000185.json @@ -0,0 +1,39 @@ +{ + "episode_index": 185, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the small rectangular bin for waste up, pour all balls inside bin", + "num_frames": 175, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 174, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000186.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000186.json new file mode 100644 index 0000000000000000000000000000000000000000..42dc63f788b2f1b4417ad801264ab0b7106f8014 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000186.json @@ -0,0 +1,39 @@ +{ + "episode_index": 186, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the cylindrical small white trashbin and pour contents down.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000187.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000187.json new file mode 100644 index 0000000000000000000000000000000000000000..3c844c0e1780b97c2e4f077fcd86bc32311c9112 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000187.json @@ -0,0 +1,53 @@ +{ + "episode_index": 187, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the cylindrical tabletrashbin with flared rim and pour it out.", + "num_frames": 326, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 325, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 125, + "arm": "right", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 212, + "arm": "left", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000188.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000188.json new file mode 100644 index 0000000000000000000000000000000000000000..c47822b751048d03a5ac267eb1388e01f0837c1e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000188.json @@ -0,0 +1,53 @@ +{ + "episode_index": 188, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the tabletrashbin and pour.", + "num_frames": 343, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 342, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 67, + "arm": "right", + "kind": "close", + "start_frame": 60, + "end_frame": 74 + }, + { + "frame": 143, + "arm": "right", + "kind": "open", + "start_frame": 136, + "end_frame": 150 + }, + { + "frame": 230, + "arm": "left", + "kind": "close", + "start_frame": 223, + "end_frame": 237 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000189.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000189.json new file mode 100644 index 0000000000000000000000000000000000000000..7a26c4c1ec4b1f6948d6529c7c9fdbb8e2aa9dc8 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000189.json @@ -0,0 +1,53 @@ +{ + "episode_index": 189, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift up the light gray smooth tabletrashbin, then pour balls.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 135, + "arm": "right", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + }, + { + "frame": 223, + "arm": "left", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000190.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000190.json new file mode 100644 index 0000000000000000000000000000000000000000..6658590cde16e23e086ba24813b798b19f3491fd --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000190.json @@ -0,0 +1,39 @@ +{ + "episode_index": 190, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pour balls from the light gray bucket-shaped waste bin into the bin.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000191.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000191.json new file mode 100644 index 0000000000000000000000000000000000000000..a008c13bb0681c36fac432bea556d76329e3d40d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000191.json @@ -0,0 +1,39 @@ +{ + "episode_index": 191, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to empty the light gray tabletrashbin into the bin.", + "num_frames": 176, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 175, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000192.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000192.json new file mode 100644 index 0000000000000000000000000000000000000000..58962e48d298377231a0f5c7eb953e7e8f3d8631 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000192.json @@ -0,0 +1,39 @@ +{ + "episode_index": 192, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the cylindrical tabletrashbin with flared rim and pour.", + "num_frames": 176, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 175, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000193.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000193.json new file mode 100644 index 0000000000000000000000000000000000000000..c420f5739763b2a3bede14eb0379bf54119b77b6 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000193.json @@ -0,0 +1,53 @@ +{ + "episode_index": 193, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the tabletrashbin with black specks and dump the balls.", + "num_frames": 347, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 346, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "right", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 137, + "arm": "right", + "kind": "open", + "start_frame": 130, + "end_frame": 144 + }, + { + "frame": 225, + "arm": "left", + "kind": "close", + "start_frame": 218, + "end_frame": 232 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000194.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000194.json new file mode 100644 index 0000000000000000000000000000000000000000..89b85747991cc372212bc99302e6131a1065061c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000194.json @@ -0,0 +1,53 @@ +{ + "episode_index": 194, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the smooth plastic tabletrashbin and empty its contents.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000195.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000195.json new file mode 100644 index 0000000000000000000000000000000000000000..fc9118640944139bce7b887f3b5ca7be83223578 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000195.json @@ -0,0 +1,39 @@ +{ + "episode_index": 195, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the simple white plastic trashbin and pour the balls.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000196.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000196.json new file mode 100644 index 0000000000000000000000000000000000000000..d50e000b50b97a89895fbb8211fd04e983833979 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000196.json @@ -0,0 +1,53 @@ +{ + "episode_index": 196, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the small tabletop trashbin, pour contents.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000197.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000197.json new file mode 100644 index 0000000000000000000000000000000000000000..55d45b00a15fd082eaa4e9772e234c7d1ebfbc8c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000197.json @@ -0,0 +1,53 @@ +{ + "episode_index": 197, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to empty the desk-sized white tabletrashbin into the bin.", + "num_frames": 319, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 318, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000198.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000198.json new file mode 100644 index 0000000000000000000000000000000000000000..0ee016ef8f5e4dfd69a522483276a52759a3f958 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000198.json @@ -0,0 +1,39 @@ +{ + "episode_index": 198, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the white bin with flared top edge, pour the balls into big bin", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000199.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000199.json new file mode 100644 index 0000000000000000000000000000000000000000..fa25dc3d0d32b8d1246057d293e480511206ca32 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000199.json @@ -0,0 +1,53 @@ +{ + "episode_index": 199, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the white round tabletrashbin using the arm to pour balls.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000200.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000200.json new file mode 100644 index 0000000000000000000000000000000000000000..3a4c2e1c4795ee2060accfc3d07576928c21c79c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000200.json @@ -0,0 +1,53 @@ +{ + "episode_index": 200, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Raise the cylindrical small white trashbin to dump its contents out.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "right", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 134, + "arm": "right", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000201.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000201.json new file mode 100644 index 0000000000000000000000000000000000000000..bbee53a648da9c0ad70ef8ab69436b732599c0df --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000201.json @@ -0,0 +1,39 @@ +{ + "episode_index": 201, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the smooth plastic tabletrashbin using the arm, pour balls.", + "num_frames": 158, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 157, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000202.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000202.json new file mode 100644 index 0000000000000000000000000000000000000000..2737162d1a302debc6aae540b7c093241afd1b28 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000202.json @@ -0,0 +1,53 @@ +{ + "episode_index": 202, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to lift the plastic tabletrashbin and empty it.", + "num_frames": 319, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 318, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000203.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000203.json new file mode 100644 index 0000000000000000000000000000000000000000..9c14d18c347b2a395a536ca1d5c94bc528aa8095 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000203.json @@ -0,0 +1,53 @@ +{ + "episode_index": 203, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the desk-sized white tabletrashbin to pour the balls out.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 211, + "arm": "left", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000204.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000204.json new file mode 100644 index 0000000000000000000000000000000000000000..520e3b0ccb868227ce58fb8494b8b5a5e1f866fa --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000204.json @@ -0,0 +1,39 @@ +{ + "episode_index": 204, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the small container with yellow logo using the arm, pour balls.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000205.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000205.json new file mode 100644 index 0000000000000000000000000000000000000000..a08070771cbcbaeb3938295fd1eb0f85a7c1e60e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000205.json @@ -0,0 +1,53 @@ +{ + "episode_index": 205, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the simple tabletop trashbin and pour the balls.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000206.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000206.json new file mode 100644 index 0000000000000000000000000000000000000000..5ceedc7f30d01ba23e1b67b46af0bc6f66400229 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000206.json @@ -0,0 +1,39 @@ +{ + "episode_index": 206, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to pick the small tabletop trashbin, pour in bin", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000207.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000207.json new file mode 100644 index 0000000000000000000000000000000000000000..f882715b072524e300d77f1c0286f0644c75ac35 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000207.json @@ -0,0 +1,39 @@ +{ + "episode_index": 207, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the minimalist gray tabletrashbin, pour the balls into big bin", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000208.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000208.json new file mode 100644 index 0000000000000000000000000000000000000000..66633b14802824102275fd6050c6bd0df992214e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000208.json @@ -0,0 +1,39 @@ +{ + "episode_index": 208, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the small tabletop trashbin and dump its balls.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000209.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000209.json new file mode 100644 index 0000000000000000000000000000000000000000..620bfc98b793c737d2c545bba1147ef30b830546 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000209.json @@ -0,0 +1,39 @@ +{ + "episode_index": 209, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Raise the light gray tabletrashbin to dump its contents out.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000210.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000210.json new file mode 100644 index 0000000000000000000000000000000000000000..a22fc736a88e37c0a8c6c86f13113eb405c2208c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000210.json @@ -0,0 +1,53 @@ +{ + "episode_index": 210, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the desk-sized white tabletrashbin up, pour all balls inside bin", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000211.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000211.json new file mode 100644 index 0000000000000000000000000000000000000000..5b924b2d9262139bc689081fc0133c70c189811e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000211.json @@ -0,0 +1,53 @@ +{ + "episode_index": 211, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to empty the simple tabletop trashbin into the bin.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000212.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000212.json new file mode 100644 index 0000000000000000000000000000000000000000..284f58468238e4084bc6f78f889e0ab5210d990a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000212.json @@ -0,0 +1,53 @@ +{ + "episode_index": 212, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to grab the cylindrical small white trashbin and pour.", + "num_frames": 324, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 323, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000213.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000213.json new file mode 100644 index 0000000000000000000000000000000000000000..33dab36d62e9e29e36dbd7966e7f7bf55bb63d1f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000213.json @@ -0,0 +1,39 @@ +{ + "episode_index": 213, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the tabletrashbin with black specks and pour it out.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000214.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000214.json new file mode 100644 index 0000000000000000000000000000000000000000..36d31680ae253344e4afc7d79c2ac78fd8af52d9 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000214.json @@ -0,0 +1,39 @@ +{ + "episode_index": 214, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the tabletrashbin, then pour balls into the bin.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000215.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000215.json new file mode 100644 index 0000000000000000000000000000000000000000..33317a89721b1973d78906bf4acdd59bc1fd9cec --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000215.json @@ -0,0 +1,39 @@ +{ + "episode_index": 215, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the light gray tabletrashbin, pour into the big bin.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000216.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000216.json new file mode 100644 index 0000000000000000000000000000000000000000..149ed1afe59e93d6d2040ddf19f9304fd969ebc7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000216.json @@ -0,0 +1,53 @@ +{ + "episode_index": 216, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the light gray tabletrashbin and pour contents.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 326, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000217.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000217.json new file mode 100644 index 0000000000000000000000000000000000000000..5459fad8409c3922dccc15edcb86aa193e0e139b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000217.json @@ -0,0 +1,39 @@ +{ + "episode_index": 217, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the plastic tabletrashbin up, pour all balls inside bin", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000218.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000218.json new file mode 100644 index 0000000000000000000000000000000000000000..5b8daa4d96c91ce1dcb0d49020311d83528be09b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000218.json @@ -0,0 +1,39 @@ +{ + "episode_index": 218, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the white bin with flared top edge using the arm, pour balls.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000219.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000219.json new file mode 100644 index 0000000000000000000000000000000000000000..eca5c0fdf5487ec58987c24a066443b317820888 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000219.json @@ -0,0 +1,53 @@ +{ + "episode_index": 219, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the small white trashbin and pour contents.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000220.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000220.json new file mode 100644 index 0000000000000000000000000000000000000000..68ee638c989ca0c3469ae063eb82bf8b8dbf29d2 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000220.json @@ -0,0 +1,39 @@ +{ + "episode_index": 220, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the cylindrical tabletrashbin with flared rim and pour into bin.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000221.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000221.json new file mode 100644 index 0000000000000000000000000000000000000000..51f0a36973ba32282d2d3d0752e7025e5ab841ff --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000221.json @@ -0,0 +1,39 @@ +{ + "episode_index": 221, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the cylindrical tabletrashbin and pour its contents into bin.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000222.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000222.json new file mode 100644 index 0000000000000000000000000000000000000000..3eaa2aa10c88420adb8c6349ba98330421ea69a2 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000222.json @@ -0,0 +1,39 @@ +{ + "episode_index": 222, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to pick the small tabletop trashbin, pour in bin", + "num_frames": 158, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 157, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000223.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000223.json new file mode 100644 index 0000000000000000000000000000000000000000..4c28957b99b77abffd447a7896773c9a5b17b274 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000223.json @@ -0,0 +1,53 @@ +{ + "episode_index": 223, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Control the arm to raise the small white trashbin and pour.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 340, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 134, + "arm": "right", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000224.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000224.json new file mode 100644 index 0000000000000000000000000000000000000000..8ece8f0fe3233d8f868984a4712686c2dd5aed94 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000224.json @@ -0,0 +1,39 @@ +{ + "episode_index": 224, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the white cylindrical waste bin, then pour balls into the bin.", + "num_frames": 162, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 161, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000225.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000225.json new file mode 100644 index 0000000000000000000000000000000000000000..72818d97ee302ad6d4aea936e7b55e39a3bf4e9c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000225.json @@ -0,0 +1,53 @@ +{ + "episode_index": 225, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the simple tabletop trashbin using the arm to pour balls.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 326, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000226.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000226.json new file mode 100644 index 0000000000000000000000000000000000000000..431d440e1de6c84a7e846f9fe76809114b6193d9 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000226.json @@ -0,0 +1,53 @@ +{ + "episode_index": 226, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to grab the small white trashbin, dump contents", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 326, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 212, + "arm": "left", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000227.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000227.json new file mode 100644 index 0000000000000000000000000000000000000000..0e88e93bf5f8ad3d345552f7432b993ee0554425 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000227.json @@ -0,0 +1,53 @@ +{ + "episode_index": 227, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the tabletrashbin with yellow symbol and transfer balls to the bin.", + "num_frames": 347, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 346, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 135, + "arm": "right", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + }, + { + "frame": 227, + "arm": "left", + "kind": "close", + "start_frame": 220, + "end_frame": 234 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000228.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000228.json new file mode 100644 index 0000000000000000000000000000000000000000..cda4975e54bfb33a64ada3b1a945a677e1130afd --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000228.json @@ -0,0 +1,53 @@ +{ + "episode_index": 228, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to empty the tabletrashbin with grooves on sides into the bin.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000229.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000229.json new file mode 100644 index 0000000000000000000000000000000000000000..9536fa0a26b48ab3ba7d09462caf60c68e10abcb --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000229.json @@ -0,0 +1,53 @@ +{ + "episode_index": 229, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the white cylindrical waste bin, pour contents into big bin", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000230.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000230.json new file mode 100644 index 0000000000000000000000000000000000000000..e50df34e358ebaa2309895b818286af56c719a1f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000230.json @@ -0,0 +1,53 @@ +{ + "episode_index": 230, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the small tabletrashbin, pour its contents out.", + "num_frames": 320, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 319, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "left", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000231.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000231.json new file mode 100644 index 0000000000000000000000000000000000000000..2f7cc5db133031d61f3410a22abaf7d6b9e9a675 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000231.json @@ -0,0 +1,53 @@ +{ + "episode_index": 231, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the cylindrical tabletrashbin with flared rim, then pour the balls.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000232.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000232.json new file mode 100644 index 0000000000000000000000000000000000000000..ff4c85c38cf0e4502b81897d3f15b9ad8c05ab9b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000232.json @@ -0,0 +1,53 @@ +{ + "episode_index": 232, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Move the arm, take the small white trashbin, and pour.", + "num_frames": 322, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 321, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000233.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000233.json new file mode 100644 index 0000000000000000000000000000000000000000..3e8e25b1f3a6a2957d30e919053a31c3eecb8a5b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000233.json @@ -0,0 +1,53 @@ +{ + "episode_index": 233, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the smooth plastic tabletrashbin and dump its balls.", + "num_frames": 321, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 320, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000234.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000234.json new file mode 100644 index 0000000000000000000000000000000000000000..87dcb2b1fec41f5829653c2c19c7a25ad2336272 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000234.json @@ -0,0 +1,39 @@ +{ + "episode_index": 234, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the smooth plastic tabletrashbin and pour contents.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000235.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000235.json new file mode 100644 index 0000000000000000000000000000000000000000..7bacfe01dafd65dbbe431f5837480ec1351873ab --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000235.json @@ -0,0 +1,39 @@ +{ + "episode_index": 235, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the open gray tabletrashbin and pour the balls.", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000236.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000236.json new file mode 100644 index 0000000000000000000000000000000000000000..ce85b9b430073000be404db8466dc0db0e05241a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000236.json @@ -0,0 +1,39 @@ +{ + "episode_index": 236, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the small tabletop trashbin with arm and pour contents", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000237.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000237.json new file mode 100644 index 0000000000000000000000000000000000000000..2395090b0f2c7441d6576b3d18fafbb0776908c2 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000237.json @@ -0,0 +1,53 @@ +{ + "episode_index": 237, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the lightweight trash container and dump the balls.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 123, + "arm": "right", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000238.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000238.json new file mode 100644 index 0000000000000000000000000000000000000000..efeaa87b2443586175d1ea484109231d6e885247 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000238.json @@ -0,0 +1,39 @@ +{ + "episode_index": 238, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the tabletrashbin with grooves on sides and pour.", + "num_frames": 175, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 174, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000239.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000239.json new file mode 100644 index 0000000000000000000000000000000000000000..2d0d02e7184c347464c0ec4aecec9f22a922b1df --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000239.json @@ -0,0 +1,39 @@ +{ + "episode_index": 239, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the tabletrashbin with smooth grooves, pour its contents away.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000240.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000240.json new file mode 100644 index 0000000000000000000000000000000000000000..7e81bc7e5fdaa14158bfdba49133841b6b61e0a9 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000240.json @@ -0,0 +1,53 @@ +{ + "episode_index": 240, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the small rectangular bin for waste, pour its contents out.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 340, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000241.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000241.json new file mode 100644 index 0000000000000000000000000000000000000000..300c102f21b7d728b2986622dd023c4ef61b8133 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000241.json @@ -0,0 +1,39 @@ +{ + "episode_index": 241, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the cylindrical tabletrashbin with flared rim, pour into the big bin.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000242.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000242.json new file mode 100644 index 0000000000000000000000000000000000000000..0212da3debdabe8da8d0802667dd20b738971d8e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000242.json @@ -0,0 +1,39 @@ +{ + "episode_index": 242, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the small white trashbin, then pour balls into the bin.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000243.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000243.json new file mode 100644 index 0000000000000000000000000000000000000000..2cccc89309159076303a2c73b0dc742554d634fd --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000243.json @@ -0,0 +1,53 @@ +{ + "episode_index": 243, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the cylindrical tabletrashbin with flared rim, pour its contents out.", + "num_frames": 319, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 318, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "left", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000244.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000244.json new file mode 100644 index 0000000000000000000000000000000000000000..074e4985b7f806a2d092579fee0119792998f28d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000244.json @@ -0,0 +1,39 @@ +{ + "episode_index": 244, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the dark gray cylindrical tabletrashbin and dump the balls.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000245.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000245.json new file mode 100644 index 0000000000000000000000000000000000000000..5a502580da52b9c002cab65e484afbe27c7a1bc0 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000245.json @@ -0,0 +1,39 @@ +{ + "episode_index": 245, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the tabletrashbin to pour the balls out.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000246.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000246.json new file mode 100644 index 0000000000000000000000000000000000000000..e870a771b79ae224f0cb0e9038beb572656a584e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000246.json @@ -0,0 +1,39 @@ +{ + "episode_index": 246, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the white round tabletrashbin using arm, pour contents inside", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000247.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000247.json new file mode 100644 index 0000000000000000000000000000000000000000..8dc1482f882bd48032b107385439a8190ecdf494 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000247.json @@ -0,0 +1,39 @@ +{ + "episode_index": 247, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Raise the compact tabletop trashbin to dump its contents out.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000248.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000248.json new file mode 100644 index 0000000000000000000000000000000000000000..3974e38b5ef64dab8dfffafb064d0059cf8d8a60 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000248.json @@ -0,0 +1,39 @@ +{ + "episode_index": 248, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the white cylindrical waste bin and empty balls into the bin.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000249.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000249.json new file mode 100644 index 0000000000000000000000000000000000000000..2c2238004768b51f16b4cc478d6418c963e73380 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000249.json @@ -0,0 +1,53 @@ +{ + "episode_index": 249, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Direct the arm to grab the open gray tabletrashbin and tilt.", + "num_frames": 342, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 341, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 134, + "arm": "right", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + }, + { + "frame": 222, + "arm": "left", + "kind": "close", + "start_frame": 215, + "end_frame": 229 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000250.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000250.json new file mode 100644 index 0000000000000000000000000000000000000000..649fd0d2170916d8d7c837421490fca4b7b2a25f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000250.json @@ -0,0 +1,39 @@ +{ + "episode_index": 250, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the dark gray cylindrical tabletrashbin using arm, pour contents inside", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000251.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000251.json new file mode 100644 index 0000000000000000000000000000000000000000..be4cc4de887827f438a0f21aa6bfe3c806daf91e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000251.json @@ -0,0 +1,53 @@ +{ + "episode_index": 251, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the white round tabletrashbin and pour.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000252.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000252.json new file mode 100644 index 0000000000000000000000000000000000000000..ce074be336660486c0b28c6df0f17a450e4fb07d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000252.json @@ -0,0 +1,39 @@ +{ + "episode_index": 252, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the tabletrashbin with smooth grooves, then pour the balls.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000253.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000253.json new file mode 100644 index 0000000000000000000000000000000000000000..0774b99c0549a04037a91e71678a06f804e9e19e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000253.json @@ -0,0 +1,39 @@ +{ + "episode_index": 253, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the tabletrashbin with yellow symbol, then pour the balls.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000254.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000254.json new file mode 100644 index 0000000000000000000000000000000000000000..16226edd3393a0d29bb35cbaacaa080b8ba29c75 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000254.json @@ -0,0 +1,53 @@ +{ + "episode_index": 254, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the tabletrashbin with grooves on sides, pour into the big bin.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000255.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000255.json new file mode 100644 index 0000000000000000000000000000000000000000..05bdedbb0c35f89470f7ecb1555bf720e33dd16f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000255.json @@ -0,0 +1,53 @@ +{ + "episode_index": 255, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab and tilt the light gray cylindrical trashbin to empty the balls.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000256.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000256.json new file mode 100644 index 0000000000000000000000000000000000000000..b9bcb60aba226101d95ab71a346aa966128b7261 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000256.json @@ -0,0 +1,53 @@ +{ + "episode_index": 256, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the smooth plastic tabletrashbin, pour contents.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 125, + "arm": "right", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 212, + "arm": "left", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000257.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000257.json new file mode 100644 index 0000000000000000000000000000000000000000..1bebfff8342ef9fddcea8323ff251e5817b191f7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000257.json @@ -0,0 +1,53 @@ +{ + "episode_index": 257, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the black-specked gray tabletrashbin, then pour contents.", + "num_frames": 349, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 348, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 66, + "arm": "right", + "kind": "close", + "start_frame": 59, + "end_frame": 73 + }, + { + "frame": 143, + "arm": "right", + "kind": "open", + "start_frame": 136, + "end_frame": 150 + }, + { + "frame": 230, + "arm": "left", + "kind": "close", + "start_frame": 223, + "end_frame": 237 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000258.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000258.json new file mode 100644 index 0000000000000000000000000000000000000000..7938372edb1b34e601d336a1b951db85eb2ef20f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000258.json @@ -0,0 +1,39 @@ +{ + "episode_index": 258, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the smooth plastic tabletrashbin with arm and pour contents", + "num_frames": 178, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 177, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000259.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000259.json new file mode 100644 index 0000000000000000000000000000000000000000..799e02c20ca1100b6e19b78d550ed660600de5db --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000259.json @@ -0,0 +1,53 @@ +{ + "episode_index": 259, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the cylindrical tabletrashbin, then pour the balls.", + "num_frames": 321, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 320, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 121, + "arm": "right", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 208, + "arm": "left", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000260.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000260.json new file mode 100644 index 0000000000000000000000000000000000000000..bb7c947e4e28df80d5fee9f6e2ce6098f76386a1 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000260.json @@ -0,0 +1,53 @@ +{ + "episode_index": 260, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to pick the mini white trashbin for desk, pour in bin", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000261.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000261.json new file mode 100644 index 0000000000000000000000000000000000000000..07abeb10295bc774a41f5eabb99f694fcc21702d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000261.json @@ -0,0 +1,53 @@ +{ + "episode_index": 261, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the small white trashbin, pour the balls into big bin", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "right", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + }, + { + "frame": 125, + "arm": "right", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 212, + "arm": "left", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000262.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000262.json new file mode 100644 index 0000000000000000000000000000000000000000..c98e38d9650547771f2936fa86611f546eb026ad --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000262.json @@ -0,0 +1,39 @@ +{ + "episode_index": 262, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the tabletrashbin for holding waste and empty balls into the bin.", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000263.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000263.json new file mode 100644 index 0000000000000000000000000000000000000000..88b680a5cb1cca5f1c7d2471c33fe7b87be0bab2 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000263.json @@ -0,0 +1,39 @@ +{ + "episode_index": 263, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Move the arm, take the cylindrical tabletrashbin with flared rim, and pour.", + "num_frames": 161, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 160, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000264.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000264.json new file mode 100644 index 0000000000000000000000000000000000000000..8c540e0477805808ec1555e345233a5c21ef5faa --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000264.json @@ -0,0 +1,53 @@ +{ + "episode_index": 264, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the light gray trashbin with open top and dump its balls.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000265.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000265.json new file mode 100644 index 0000000000000000000000000000000000000000..1add118cf41bd676ee2d5335ce057a77cc664c13 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000265.json @@ -0,0 +1,53 @@ +{ + "episode_index": 265, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the compact bin with rounded edges with arm and pour contents", + "num_frames": 346, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 345, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 223, + "arm": "left", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000266.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000266.json new file mode 100644 index 0000000000000000000000000000000000000000..c9f0437d1efdcea91c7693f00cae281374d59c8d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000266.json @@ -0,0 +1,39 @@ +{ + "episode_index": 266, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to grab the compact tabletop trashbin and pour.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000267.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000267.json new file mode 100644 index 0000000000000000000000000000000000000000..044fd8ce9b32be4f940753a120b58bf3aa52a1e4 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000267.json @@ -0,0 +1,39 @@ +{ + "episode_index": 267, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the cylindrical small white trashbin, pour the balls into big bin", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000268.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000268.json new file mode 100644 index 0000000000000000000000000000000000000000..d6c0ab2330ce5a5907f7c3c933fb9e3655a2097e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000268.json @@ -0,0 +1,53 @@ +{ + "episode_index": 268, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the white bin with flared top edge and pour its contents into bin.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000269.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000269.json new file mode 100644 index 0000000000000000000000000000000000000000..f93f09e2041f081b603390986b72faa769e32e82 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000269.json @@ -0,0 +1,53 @@ +{ + "episode_index": 269, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the light gray tabletrashbin and pour it out.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 135, + "arm": "right", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + }, + { + "frame": 223, + "arm": "left", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000270.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000270.json new file mode 100644 index 0000000000000000000000000000000000000000..55586c80ca7971465e196d085c4cf51f0817c03b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000270.json @@ -0,0 +1,39 @@ +{ + "episode_index": 270, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the small white trashbin with arm and pour contents", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000271.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000271.json new file mode 100644 index 0000000000000000000000000000000000000000..460e6f912dd583083679a6ad4cdd40214f7abfc5 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000271.json @@ -0,0 +1,39 @@ +{ + "episode_index": 271, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to lift the minimalist gray tabletrashbin and empty it.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000272.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000272.json new file mode 100644 index 0000000000000000000000000000000000000000..b320a596763f3114af043deaa3b232e5cbbda719 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000272.json @@ -0,0 +1,39 @@ +{ + "episode_index": 272, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the cylindrical tabletrashbin with flared rim, pour the balls into big bin", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000273.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000273.json new file mode 100644 index 0000000000000000000000000000000000000000..8ad2bacb262139f09ddc6833c9967049ec67a97e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000273.json @@ -0,0 +1,53 @@ +{ + "episode_index": 273, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the open-top tabletrashbin and pour the balls.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 337, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000274.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000274.json new file mode 100644 index 0000000000000000000000000000000000000000..eac499393c430369260e17c7578916d2174c3690 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000274.json @@ -0,0 +1,39 @@ +{ + "episode_index": 274, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the open-top tabletrashbin and pour the balls out.", + "num_frames": 159, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 158, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000275.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000275.json new file mode 100644 index 0000000000000000000000000000000000000000..66da59ba62bd16bd558c68bf0e82669aa87bc8e6 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000275.json @@ -0,0 +1,53 @@ +{ + "episode_index": 275, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Move the arm, take the tabletrashbin with grooves on sides, and pour.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000276.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000276.json new file mode 100644 index 0000000000000000000000000000000000000000..607e1deeb692dd042060ab44613333b79ec51a63 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000276.json @@ -0,0 +1,39 @@ +{ + "episode_index": 276, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Move the arm, take the desk-sized white tabletrashbin, and pour.", + "num_frames": 164, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 163, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000277.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000277.json new file mode 100644 index 0000000000000000000000000000000000000000..6590b58bfc3ca2950b1c990608d376191780d489 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000277.json @@ -0,0 +1,53 @@ +{ + "episode_index": 277, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the small trash container and transfer balls.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000278.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000278.json new file mode 100644 index 0000000000000000000000000000000000000000..787f73ab98f3d079ec97fe44b3bf4919ec4fa037 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000278.json @@ -0,0 +1,53 @@ +{ + "episode_index": 278, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the tabletrashbin using arm, pour contents inside", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 338, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 220, + "arm": "left", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000279.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000279.json new file mode 100644 index 0000000000000000000000000000000000000000..459ea1eed6ef52ecfdcd0f021a6b080e73dae7a1 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000279.json @@ -0,0 +1,53 @@ +{ + "episode_index": 279, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the light gray waste container and dump its balls.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000280.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000280.json new file mode 100644 index 0000000000000000000000000000000000000000..75fae23208bc82729418c2e626f2287f3ccc0b38 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000280.json @@ -0,0 +1,39 @@ +{ + "episode_index": 280, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the small light gray waste bin and pour all balls into bin", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000281.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000281.json new file mode 100644 index 0000000000000000000000000000000000000000..b14b5172de2dc6e21813528b41e84a6153f95ad6 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000281.json @@ -0,0 +1,53 @@ +{ + "episode_index": 281, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the cylindrical tabletrashbin and dump the balls.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000282.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000282.json new file mode 100644 index 0000000000000000000000000000000000000000..72570feaff255c53a1cde159fa3cca270b5a362f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000282.json @@ -0,0 +1,39 @@ +{ + "episode_index": 282, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the white cylindrical waste bin and pour into bin.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000283.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000283.json new file mode 100644 index 0000000000000000000000000000000000000000..536ba09a64278b3d62f56cce88ec9cc9f4d02c34 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000283.json @@ -0,0 +1,53 @@ +{ + "episode_index": 283, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the small light gray waste bin, empty into the big bin", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000284.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000284.json new file mode 100644 index 0000000000000000000000000000000000000000..775aaf07a0247f4f182f8002aa869ca44cc755e9 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000284.json @@ -0,0 +1,39 @@ +{ + "episode_index": 284, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grasp the open-top tabletrashbin and empty it out.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000285.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000285.json new file mode 100644 index 0000000000000000000000000000000000000000..b5fe1eed6a00f8144a42343136a9f65adadf11b8 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000285.json @@ -0,0 +1,39 @@ +{ + "episode_index": 285, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the light gray tabletrashbin, pour into the big bin.", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000286.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000286.json new file mode 100644 index 0000000000000000000000000000000000000000..6017b1a12ee8fba63512deac14df46e83d76104b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000286.json @@ -0,0 +1,53 @@ +{ + "episode_index": 286, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to lift the light gray smooth tabletrashbin and empty it.", + "num_frames": 325, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 324, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000287.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000287.json new file mode 100644 index 0000000000000000000000000000000000000000..7e48d4048465a03f754c663599063bd70a6d08d3 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000287.json @@ -0,0 +1,53 @@ +{ + "episode_index": 287, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the tabletrashbin using the arm, pour balls.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000288.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000288.json new file mode 100644 index 0000000000000000000000000000000000000000..7f82321fa927fa52a79556fbce0cc58418494d0a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000288.json @@ -0,0 +1,39 @@ +{ + "episode_index": 288, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the tabletrashbin made of plastic, pour its contents away.", + "num_frames": 149, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 148, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000289.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000289.json new file mode 100644 index 0000000000000000000000000000000000000000..248c0a5872474e03fd8f9a84592705e764a8727f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000289.json @@ -0,0 +1,53 @@ +{ + "episode_index": 289, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the plastic tabletrashbin and pour its contents into bin.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000290.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000290.json new file mode 100644 index 0000000000000000000000000000000000000000..44e293c9ee57db2b137153920d17c2d0ef8cfe92 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000290.json @@ -0,0 +1,53 @@ +{ + "episode_index": 290, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the white bin with flared top edge, pour contents into big bin", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000291.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000291.json new file mode 100644 index 0000000000000000000000000000000000000000..bfd9d2641be5294d2ced9680575fca13dbd5bb36 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000291.json @@ -0,0 +1,39 @@ +{ + "episode_index": 291, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the compact tabletop trashbin and pour it out.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000292.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000292.json new file mode 100644 index 0000000000000000000000000000000000000000..dc754fbdd4e2fd9cf06dfedf6dc45406c99d1347 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000292.json @@ -0,0 +1,39 @@ +{ + "episode_index": 292, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the white cylindrical waste bin and pour balls into the bin.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000293.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000293.json new file mode 100644 index 0000000000000000000000000000000000000000..810b6c0a92caa900031b41ee0db820fab4ed772b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000293.json @@ -0,0 +1,53 @@ +{ + "episode_index": 293, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the light gray tabletrashbin using the arm, pour balls.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000294.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000294.json new file mode 100644 index 0000000000000000000000000000000000000000..0d49a0eb326eeb0d905cb344d7cddbf325e6bd67 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000294.json @@ -0,0 +1,53 @@ +{ + "episode_index": 294, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the cylindrical small white trashbin and pour carefully.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000295.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000295.json new file mode 100644 index 0000000000000000000000000000000000000000..af0d4573bcf362fad289aeec1176204f84b53edb --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000295.json @@ -0,0 +1,53 @@ +{ + "episode_index": 295, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the tabletrashbin with yellow symbol and empty its contents.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 326, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 125, + "arm": "right", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000296.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000296.json new file mode 100644 index 0000000000000000000000000000000000000000..459c644938c20e38f1bc4f45c3c6bfab7f28fcc0 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000296.json @@ -0,0 +1,53 @@ +{ + "episode_index": 296, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the small tabletop trashbin, pour contents.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 134, + "arm": "right", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + }, + { + "frame": 222, + "arm": "left", + "kind": "close", + "start_frame": 215, + "end_frame": 229 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000297.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000297.json new file mode 100644 index 0000000000000000000000000000000000000000..ab80972dd24c0566194040f61a3b54cf3ce56591 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000297.json @@ -0,0 +1,39 @@ +{ + "episode_index": 297, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the gray tabletrashbin and empty balls into the bin.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000298.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000298.json new file mode 100644 index 0000000000000000000000000000000000000000..5c0e7cd8f8707350ef4facc2a96d7b583ad3f9d4 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000298.json @@ -0,0 +1,53 @@ +{ + "episode_index": 298, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grasp the desk-sized white tabletrashbin and empty it out.", + "num_frames": 340, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 339, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000299.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000299.json new file mode 100644 index 0000000000000000000000000000000000000000..6459cd4f0ddbfcdd9757f70d36af0eba03169f88 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000299.json @@ -0,0 +1,39 @@ +{ + "episode_index": 299, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the white round tabletrashbin and empty balls into the bin.", + "num_frames": 161, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 160, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000300.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000300.json new file mode 100644 index 0000000000000000000000000000000000000000..eceacf2465db4ac9fd30d50fc1b609831a3dc909 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000300.json @@ -0,0 +1,39 @@ +{ + "episode_index": 300, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the smooth plastic tabletrashbin using the arm to pour balls.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000301.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000301.json new file mode 100644 index 0000000000000000000000000000000000000000..ba7adf89785757414ceabc39c8633a859a372cc1 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000301.json @@ -0,0 +1,53 @@ +{ + "episode_index": 301, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to grab the minimalist gray tabletrashbin and pour.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000302.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000302.json new file mode 100644 index 0000000000000000000000000000000000000000..071296c44c959128159d8c90a427fd59b906c945 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000302.json @@ -0,0 +1,53 @@ +{ + "episode_index": 302, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the small white trashbin and pour all balls into bin", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000303.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000303.json new file mode 100644 index 0000000000000000000000000000000000000000..94dbd85f9ec64ac21cfaaac8dce09c308d2c308e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000303.json @@ -0,0 +1,39 @@ +{ + "episode_index": 303, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the cylindrical tabletrashbin with flared rim and transfer balls.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000304.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000304.json new file mode 100644 index 0000000000000000000000000000000000000000..576e329f56106774eb75f26c3337a03eab311622 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000304.json @@ -0,0 +1,39 @@ +{ + "episode_index": 304, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the plastic tabletrashbin and dump its balls.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000305.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000305.json new file mode 100644 index 0000000000000000000000000000000000000000..3ab15817532e741d7453d947fb9ace9be9c7d0cb --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000305.json @@ -0,0 +1,53 @@ +{ + "episode_index": 305, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the small container with yellow logo and pour balls into the bin.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000306.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000306.json new file mode 100644 index 0000000000000000000000000000000000000000..363c065ddba75bafc653f315d9818b9f23edd5ff --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000306.json @@ -0,0 +1,39 @@ +{ + "episode_index": 306, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Control the arm to raise the open-top tabletrashbin and pour.", + "num_frames": 162, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 161, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000307.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000307.json new file mode 100644 index 0000000000000000000000000000000000000000..8769117f667b801139837f408a921d63fa113c19 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000307.json @@ -0,0 +1,53 @@ +{ + "episode_index": 307, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab and tilt the open-top tabletrashbin to empty the balls.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000308.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000308.json new file mode 100644 index 0000000000000000000000000000000000000000..b49f4cee46d97a55a57302b554f79fa3e475e45d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000308.json @@ -0,0 +1,39 @@ +{ + "episode_index": 308, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the light gray tabletrashbin up, pour all balls inside bin", + "num_frames": 176, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 175, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000309.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000309.json new file mode 100644 index 0000000000000000000000000000000000000000..cb46e903175a03f496db2cc2ae0d92f23668676e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000309.json @@ -0,0 +1,53 @@ +{ + "episode_index": 309, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the small rectangular bin for waste and pour balls into the bin.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 340, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 223, + "arm": "left", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000310.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000310.json new file mode 100644 index 0000000000000000000000000000000000000000..447f3b55f3bcbba002c4341997b9f50ea267209c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000310.json @@ -0,0 +1,39 @@ +{ + "episode_index": 310, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the plastic tabletrashbin with dark pattern, pour into the big bin.", + "num_frames": 176, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 175, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000311.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000311.json new file mode 100644 index 0000000000000000000000000000000000000000..99ce96bb55c92f4b068e52c05dab6fdbd496a5b7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000311.json @@ -0,0 +1,39 @@ +{ + "episode_index": 311, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the smooth plastic tabletrashbin using arm, pour contents inside", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000312.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000312.json new file mode 100644 index 0000000000000000000000000000000000000000..f2654a02007559642176e2cb602b6cf4d7d83c49 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000312.json @@ -0,0 +1,39 @@ +{ + "episode_index": 312, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the compact tabletop trashbin and pour its contents into bin.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000313.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000313.json new file mode 100644 index 0000000000000000000000000000000000000000..247ada893d2d59fdc43c31cd076a6c3d0f62d6d1 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000313.json @@ -0,0 +1,39 @@ +{ + "episode_index": 313, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the plastic tabletrashbin and pour it out.", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000314.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000314.json new file mode 100644 index 0000000000000000000000000000000000000000..3b4aec3a1ac0eeeec842b8a733f03f7de7844a08 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000314.json @@ -0,0 +1,53 @@ +{ + "episode_index": 314, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grasp the open-top tabletrashbin and empty it out.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000315.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000315.json new file mode 100644 index 0000000000000000000000000000000000000000..a020ba135d4c13882487203e2e0a8ecf1d815874 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000315.json @@ -0,0 +1,53 @@ +{ + "episode_index": 315, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pour balls from the tabletrashbin with smooth grooves into the bin.", + "num_frames": 340, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 339, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000316.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000316.json new file mode 100644 index 0000000000000000000000000000000000000000..8f2006523a598afe0f4a5461b7f0c5e98d1160e7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000316.json @@ -0,0 +1,39 @@ +{ + "episode_index": 316, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the light gray smooth tabletrashbin and empty it into the bin.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000317.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000317.json new file mode 100644 index 0000000000000000000000000000000000000000..05d08647f3c114d77bcd032b62e166e7ebe247a8 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000317.json @@ -0,0 +1,39 @@ +{ + "episode_index": 317, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the gray plastic trashbin and pour balls into the bin.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000318.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000318.json new file mode 100644 index 0000000000000000000000000000000000000000..b771f0630ca9e00b42a977efb0e4e29fc783b4d8 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000318.json @@ -0,0 +1,53 @@ +{ + "episode_index": 318, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the small trash container, pour contents into big bin", + "num_frames": 344, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 343, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 223, + "arm": "left", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000319.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000319.json new file mode 100644 index 0000000000000000000000000000000000000000..95fa3966f335769f61e55f709df29db1496d216b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000319.json @@ -0,0 +1,39 @@ +{ + "episode_index": 319, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the open-top tabletrashbin, empty into the big bin", + "num_frames": 164, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 163, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000320.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000320.json new file mode 100644 index 0000000000000000000000000000000000000000..232a0311fb93af8a9e08059a2cb01ae4658919af --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000320.json @@ -0,0 +1,39 @@ +{ + "episode_index": 320, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the smooth plastic tabletrashbin up, pour all balls inside bin", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000321.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000321.json new file mode 100644 index 0000000000000000000000000000000000000000..c0ed2a64383bd366e73cfe16abebde394568dc54 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000321.json @@ -0,0 +1,53 @@ +{ + "episode_index": 321, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to empty the plastic tabletrashbin into the bin.", + "num_frames": 323, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 322, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000322.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000322.json new file mode 100644 index 0000000000000000000000000000000000000000..308b0625e8acbccefc5d7d658cde975af6b32039 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000322.json @@ -0,0 +1,39 @@ +{ + "episode_index": 322, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to pick the open gray tabletrashbin, pour in bin", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000323.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000323.json new file mode 100644 index 0000000000000000000000000000000000000000..035187766556127479d65fd872e67d3833b1d14b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000323.json @@ -0,0 +1,39 @@ +{ + "episode_index": 323, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Control the arm to raise the small rectangular bin for waste and pour.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000324.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000324.json new file mode 100644 index 0000000000000000000000000000000000000000..fd7a1e1ed56729dd9d2a215357afe5f119cab6e5 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000324.json @@ -0,0 +1,39 @@ +{ + "episode_index": 324, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the minimalist gray tabletrashbin to pour the balls out.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000325.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000325.json new file mode 100644 index 0000000000000000000000000000000000000000..4f3af18aa59b93d85fd4e9e7d931c71c9f5af6d8 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000325.json @@ -0,0 +1,39 @@ +{ + "episode_index": 325, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the small rectangular bin for waste, pour its contents away.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000326.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000326.json new file mode 100644 index 0000000000000000000000000000000000000000..a184a30baa8ed7ce1cb883b1491d80582a1dedcc --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000326.json @@ -0,0 +1,53 @@ +{ + "episode_index": 326, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the smooth plastic tabletrashbin and pour carefully.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 338, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 219, + "arm": "left", + "kind": "close", + "start_frame": 212, + "end_frame": 226 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000327.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000327.json new file mode 100644 index 0000000000000000000000000000000000000000..2f847c4d8ef0f09b7027c60eb9b675ecb3cd8b58 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000327.json @@ -0,0 +1,39 @@ +{ + "episode_index": 327, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the small white trashbin using the arm to pour balls.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000328.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000328.json new file mode 100644 index 0000000000000000000000000000000000000000..f054dc4bc16e16f955a97a497259cbac3a5c8f4c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000328.json @@ -0,0 +1,39 @@ +{ + "episode_index": 328, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift up the cylindrical tabletrashbin with flared rim, then pour balls.", + "num_frames": 159, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 158, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000329.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000329.json new file mode 100644 index 0000000000000000000000000000000000000000..a10906462c2c511b9a4f9d62bdd23399a20aa4ec --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000329.json @@ -0,0 +1,53 @@ +{ + "episode_index": 329, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the smooth plastic tabletrashbin, pour contents into big bin", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 338, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 220, + "arm": "left", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000330.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000330.json new file mode 100644 index 0000000000000000000000000000000000000000..cda24b094a0968aa1fec5b72f3b8f415f67708ea --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000330.json @@ -0,0 +1,53 @@ +{ + "episode_index": 330, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the rectangular tabletop waste container and pour balls into the bin.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 340, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000331.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000331.json new file mode 100644 index 0000000000000000000000000000000000000000..fc9d01370df6354acb0b47d5d0ba1abf0a7a0dea --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000331.json @@ -0,0 +1,53 @@ +{ + "episode_index": 331, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the white round tabletrashbin to pour the balls out.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000332.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000332.json new file mode 100644 index 0000000000000000000000000000000000000000..c165f386a3e99ce774a913486181995d04b0d006 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000332.json @@ -0,0 +1,39 @@ +{ + "episode_index": 332, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Move the arm, take the simple white plastic trashbin, and pour.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000333.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000333.json new file mode 100644 index 0000000000000000000000000000000000000000..6601ed3e0df07da6102077d30392b8e61cd37090 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000333.json @@ -0,0 +1,53 @@ +{ + "episode_index": 333, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the desk-sized white tabletrashbin, pour its contents away.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000334.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000334.json new file mode 100644 index 0000000000000000000000000000000000000000..4734fe3e4b26c3d29ba2042a22adb162c6f17457 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000334.json @@ -0,0 +1,39 @@ +{ + "episode_index": 334, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Move the arm, take the simple tabletop trashbin, and pour.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000335.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000335.json new file mode 100644 index 0000000000000000000000000000000000000000..80676ea97775d3492dd1dff7b48f3d4ee857c2cf --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000335.json @@ -0,0 +1,39 @@ +{ + "episode_index": 335, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the white bin with flared top edge using arm, pour contents inside", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000336.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000336.json new file mode 100644 index 0000000000000000000000000000000000000000..811a0c52b46cda911a3db0bbabbcdcc1151cc57d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000336.json @@ -0,0 +1,39 @@ +{ + "episode_index": 336, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to grab the light gray tabletrashbin, dump contents", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000337.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000337.json new file mode 100644 index 0000000000000000000000000000000000000000..4a4541016d55d649daf5b0055f017789c057e244 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000337.json @@ -0,0 +1,39 @@ +{ + "episode_index": 337, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to grab the white cylindrical waste bin and pour.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000338.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000338.json new file mode 100644 index 0000000000000000000000000000000000000000..f2c22ed722623fca2bc729e17dc75db4f847c3ed --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000338.json @@ -0,0 +1,53 @@ +{ + "episode_index": 338, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Control the arm to raise the compact tabletop trashbin and pour.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000339.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000339.json new file mode 100644 index 0000000000000000000000000000000000000000..067cf6bd069c1b517d5a3268c546b9223930fad2 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000339.json @@ -0,0 +1,53 @@ +{ + "episode_index": 339, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the small cylindrical speckled tabletrashbin using the arm to pour balls.", + "num_frames": 320, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 319, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000340.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000340.json new file mode 100644 index 0000000000000000000000000000000000000000..37df74d9d37080c4f3cc582f5a0bbf77de085768 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000340.json @@ -0,0 +1,39 @@ +{ + "episode_index": 340, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the cylindrical tabletrashbin with flared rim and pour all balls into bin", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000341.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000341.json new file mode 100644 index 0000000000000000000000000000000000000000..f709be7b9683b2ad64c7be33cfacdd4ced3afc3a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000341.json @@ -0,0 +1,39 @@ +{ + "episode_index": 341, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Control the arm to raise the simple tabletop trashbin and pour.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000342.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000342.json new file mode 100644 index 0000000000000000000000000000000000000000..4064dbe6cb46c7cbdf6f22ecd738f9908ec35f85 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000342.json @@ -0,0 +1,39 @@ +{ + "episode_index": 342, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the tabletrashbin with smooth grooves, dump balls in big bin", + "num_frames": 162, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 161, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000343.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000343.json new file mode 100644 index 0000000000000000000000000000000000000000..4a470f08ff990aab88570f6e0cc4cbbf8e6fcd46 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000343.json @@ -0,0 +1,53 @@ +{ + "episode_index": 343, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to pick the small white trashbin, pour in bin", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 212, + "arm": "left", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000344.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000344.json new file mode 100644 index 0000000000000000000000000000000000000000..b32ef9d05986ab3b98d0ec9e5fe086c710e81deb --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000344.json @@ -0,0 +1,53 @@ +{ + "episode_index": 344, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the desk-sized white tabletrashbin and pour carefully.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 340, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 220, + "arm": "left", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000345.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000345.json new file mode 100644 index 0000000000000000000000000000000000000000..d3b172dfa480e46a93e96ba14b4f76c1084affdd --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000345.json @@ -0,0 +1,39 @@ +{ + "episode_index": 345, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the lightweight trash container and pour the balls out.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000346.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000346.json new file mode 100644 index 0000000000000000000000000000000000000000..f2c757ef84c191c605380f69a2c16c04030cf2c5 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000346.json @@ -0,0 +1,53 @@ +{ + "episode_index": 346, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to grab the mini white trashbin for desk and pour.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 219, + "arm": "left", + "kind": "close", + "start_frame": 212, + "end_frame": 226 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000347.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000347.json new file mode 100644 index 0000000000000000000000000000000000000000..886faa948b26a81d29b2f41e93d79a644667226a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000347.json @@ -0,0 +1,53 @@ +{ + "episode_index": 347, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the smooth tabletrashbin for small waste, pour its contents away.", + "num_frames": 317, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 316, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000348.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000348.json new file mode 100644 index 0000000000000000000000000000000000000000..8d90f604ca4615dec2ecd73e15498a035c3fcbc3 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000348.json @@ -0,0 +1,39 @@ +{ + "episode_index": 348, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Control the arm to raise the gray plastic trashbin and pour.", + "num_frames": 155, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 154, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000349.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000349.json new file mode 100644 index 0000000000000000000000000000000000000000..cc0e7565b7f8444ab9e2bcdfded48fa5b0d825f6 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000349.json @@ -0,0 +1,39 @@ +{ + "episode_index": 349, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the minimalist gray tabletrashbin, pour contents.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000350.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000350.json new file mode 100644 index 0000000000000000000000000000000000000000..73134d01dc08fb64f1b79f611762c9ec27226aeb --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000350.json @@ -0,0 +1,53 @@ +{ + "episode_index": 350, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the compact tabletop trashbin and empty its contents.", + "num_frames": 320, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 319, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 212, + "arm": "left", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000351.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000351.json new file mode 100644 index 0000000000000000000000000000000000000000..28e4a6a43328d755a454caa7e53e6d7ed46a530e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000351.json @@ -0,0 +1,39 @@ +{ + "episode_index": 351, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the desk-sized white tabletrashbin and pour the balls out.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000352.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000352.json new file mode 100644 index 0000000000000000000000000000000000000000..c44f947ca70cbb9ef64e4fb01ed75673b7b5315d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000352.json @@ -0,0 +1,53 @@ +{ + "episode_index": 352, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to grab the smooth plastic tabletrashbin and pour.", + "num_frames": 340, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 339, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000353.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000353.json new file mode 100644 index 0000000000000000000000000000000000000000..229b130029ed8a6c0d63299a94cd1f7ae335d41b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000353.json @@ -0,0 +1,39 @@ +{ + "episode_index": 353, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to grab the light gray tabletrashbin, dump contents", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000354.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000354.json new file mode 100644 index 0000000000000000000000000000000000000000..461fb94e57357d81d2dc3748b6328b6c4e179957 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000354.json @@ -0,0 +1,39 @@ +{ + "episode_index": 354, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to empty the simple white plastic trashbin into the bin.", + "num_frames": 160, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 159, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000355.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000355.json new file mode 100644 index 0000000000000000000000000000000000000000..7eab47e383e1df5bf4b4c1a357f9dc7737c2ba61 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000355.json @@ -0,0 +1,53 @@ +{ + "episode_index": 355, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to pick the cylindrical tabletrashbin with flared rim, pour in bin", + "num_frames": 321, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 320, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000356.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000356.json new file mode 100644 index 0000000000000000000000000000000000000000..6425de0602efe8212655cbc6550177d6ef797736 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000356.json @@ -0,0 +1,53 @@ +{ + "episode_index": 356, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the cylindrical small white trashbin, pour its contents away.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000357.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000357.json new file mode 100644 index 0000000000000000000000000000000000000000..7238375ca23d9d3ec1300bea9e808938fc42a102 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000357.json @@ -0,0 +1,39 @@ +{ + "episode_index": 357, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to grab the tabletrashbin for tabletop trash, dump contents", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000358.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000358.json new file mode 100644 index 0000000000000000000000000000000000000000..8783a2e41c5e39f121b7b800931917d4d05e75a6 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000358.json @@ -0,0 +1,39 @@ +{ + "episode_index": 358, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pour balls from the bucket-shaped gray trashbin into the bin.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000359.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000359.json new file mode 100644 index 0000000000000000000000000000000000000000..98c486bee01fbe3c5fae99ecb6a3c4a0e7dfa247 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000359.json @@ -0,0 +1,39 @@ +{ + "episode_index": 359, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the cylindrical tabletrashbin and pour the balls.", + "num_frames": 164, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 163, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000360.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000360.json new file mode 100644 index 0000000000000000000000000000000000000000..aa21cc210baae1c6dd7c6fc11edd5ee607744a48 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000360.json @@ -0,0 +1,53 @@ +{ + "episode_index": 360, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the white cylindrical waste bin and pour the balls out.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 338, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 134, + "arm": "right", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000361.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000361.json new file mode 100644 index 0000000000000000000000000000000000000000..b71627e6bc585471ec6837e980a71476b1a5fa68 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000361.json @@ -0,0 +1,53 @@ +{ + "episode_index": 361, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the smooth plastic tabletrashbin and pour the balls.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000362.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000362.json new file mode 100644 index 0000000000000000000000000000000000000000..d65c379da30c0dfa901078397c59927aadeafe16 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000362.json @@ -0,0 +1,39 @@ +{ + "episode_index": 362, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the mini white trashbin for desk and pour contents.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000363.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000363.json new file mode 100644 index 0000000000000000000000000000000000000000..9b776dd0a3284a3c06f3476edcf3b0ac75cc9fcc --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000363.json @@ -0,0 +1,53 @@ +{ + "episode_index": 363, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the simple white plastic trashbin with arm and pour contents", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000364.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000364.json new file mode 100644 index 0000000000000000000000000000000000000000..693af2aabffd79a7162d6f66aab4bd40a8514537 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000364.json @@ -0,0 +1,39 @@ +{ + "episode_index": 364, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the white bin with flared top edge and pour its contents into bin.", + "num_frames": 152, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 151, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000365.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000365.json new file mode 100644 index 0000000000000000000000000000000000000000..819f6dc982672c3621554c55e32bcbd10f9f191b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000365.json @@ -0,0 +1,53 @@ +{ + "episode_index": 365, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pour balls from the compact rectangular tabletrashbin into the bin.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000366.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000366.json new file mode 100644 index 0000000000000000000000000000000000000000..235c16d59b282472fe419809bab61b0db399fb84 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000366.json @@ -0,0 +1,39 @@ +{ + "episode_index": 366, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to grab the white round tabletrashbin and pour.", + "num_frames": 159, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 158, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000367.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000367.json new file mode 100644 index 0000000000000000000000000000000000000000..7c4dd9261e4727c083ece6bb074d065b5f26488e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000367.json @@ -0,0 +1,39 @@ +{ + "episode_index": 367, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the desk-sized white tabletrashbin and pour it out.", + "num_frames": 176, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 175, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000368.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000368.json new file mode 100644 index 0000000000000000000000000000000000000000..7bedc40e339058f26dbee0bec9c8a752e59b7254 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000368.json @@ -0,0 +1,39 @@ +{ + "episode_index": 368, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab and tilt the tabletrashbin to empty the balls.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000369.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000369.json new file mode 100644 index 0000000000000000000000000000000000000000..381e7256449f8538f28f8143825ba51126e1aacf --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000369.json @@ -0,0 +1,39 @@ +{ + "episode_index": 369, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the white cylindrical waste bin and transfer balls.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000370.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000370.json new file mode 100644 index 0000000000000000000000000000000000000000..83a7be494ccc62b6555a2f7c8af2ade8bdbd12a1 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000370.json @@ -0,0 +1,39 @@ +{ + "episode_index": 370, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to empty the tabletrashbin with yellow symbol into the bin.", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000371.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000371.json new file mode 100644 index 0000000000000000000000000000000000000000..0b76989e169f15d1061f1f90cbe4b00aea6a444d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000371.json @@ -0,0 +1,39 @@ +{ + "episode_index": 371, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the simple tabletop trashbin, pour its contents away.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000372.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000372.json new file mode 100644 index 0000000000000000000000000000000000000000..005484315496062d33eea6ab923935ac3dcf0d81 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000372.json @@ -0,0 +1,53 @@ +{ + "episode_index": 372, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the compact bin with rounded edges and pour the balls.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 219, + "arm": "left", + "kind": "close", + "start_frame": 212, + "end_frame": 226 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000373.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000373.json new file mode 100644 index 0000000000000000000000000000000000000000..e5a23632e5be1ed6d0e961d61b6e3e7a16d6ff5e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000373.json @@ -0,0 +1,39 @@ +{ + "episode_index": 373, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the smooth plastic tabletrashbin and pour.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000374.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000374.json new file mode 100644 index 0000000000000000000000000000000000000000..c7daacf0aa2485334ebc987eaa87f6ad40f50ca9 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000374.json @@ -0,0 +1,39 @@ +{ + "episode_index": 374, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the bucket-shaped gray trashbin and pour the balls.", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000375.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000375.json new file mode 100644 index 0000000000000000000000000000000000000000..114eba1f1cc8541e6acb49ed98ca4b45b0d6587f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000375.json @@ -0,0 +1,39 @@ +{ + "episode_index": 375, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the smooth plastic tabletrashbin and dump the balls.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000376.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000376.json new file mode 100644 index 0000000000000000000000000000000000000000..6cf660001b4ed9570b90bf0e2d8ff5cdaad52243 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000376.json @@ -0,0 +1,39 @@ +{ + "episode_index": 376, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the cylindrical tabletrashbin with flared rim, dump balls in big bin", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000377.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000377.json new file mode 100644 index 0000000000000000000000000000000000000000..9e188f7512aee01398a060c3bd3e9083258b1e9b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000377.json @@ -0,0 +1,39 @@ +{ + "episode_index": 377, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the light gray bucket-shaped waste bin, pour contents.", + "num_frames": 158, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 157, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000378.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000378.json new file mode 100644 index 0000000000000000000000000000000000000000..80a6e946e14482101e8d8b7b7889e7c6afedaff7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000378.json @@ -0,0 +1,39 @@ +{ + "episode_index": 378, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the small rectangular bin for waste and dump its balls.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000379.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000379.json new file mode 100644 index 0000000000000000000000000000000000000000..3c4e302c6ec6e967119ffd67c95a0f5458cc356d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000379.json @@ -0,0 +1,39 @@ +{ + "episode_index": 379, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the cylindrical tabletrashbin and pour the balls.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000380.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000380.json new file mode 100644 index 0000000000000000000000000000000000000000..a63e3ee10ae286d84cfe3a0f448590aae62fccb5 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000380.json @@ -0,0 +1,53 @@ +{ + "episode_index": 380, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Direct the arm to grab the tabletrashbin for tabletop trash and tilt.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000381.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000381.json new file mode 100644 index 0000000000000000000000000000000000000000..d575b3644fae8e4ba6aa1c2e97a5c99d1cce553a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000381.json @@ -0,0 +1,39 @@ +{ + "episode_index": 381, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the tabletrashbin for tabletop trash and empty it into the bin.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 51, + "arm": "left", + "kind": "close", + "start_frame": 44, + "end_frame": 58 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000382.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000382.json new file mode 100644 index 0000000000000000000000000000000000000000..2135ca0a31b72dea4e1216b706b2c6a9850697ed --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000382.json @@ -0,0 +1,39 @@ +{ + "episode_index": 382, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the light gray waste container using the arm to pour balls.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000383.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000383.json new file mode 100644 index 0000000000000000000000000000000000000000..bd6578cdc2aec673f7e631810b29ea4ae20bacbf --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000383.json @@ -0,0 +1,39 @@ +{ + "episode_index": 383, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to grab the tabletrashbin, dump contents", + "num_frames": 157, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 156, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000384.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000384.json new file mode 100644 index 0000000000000000000000000000000000000000..ab78c9ba1b42d03348a90825455f327aaa58e3e9 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000384.json @@ -0,0 +1,39 @@ +{ + "episode_index": 384, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Control the arm to raise the light gray cylindrical trashbin and pour.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000385.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000385.json new file mode 100644 index 0000000000000000000000000000000000000000..d2f3f8ef5a99497af0d429b977fc3939430319e4 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000385.json @@ -0,0 +1,53 @@ +{ + "episode_index": 385, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the desk-sized white tabletrashbin and transfer balls.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 220, + "arm": "left", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000386.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000386.json new file mode 100644 index 0000000000000000000000000000000000000000..a99d2049d2bae1347ad2a1929d9c3571a1ef935e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000386.json @@ -0,0 +1,53 @@ +{ + "episode_index": 386, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the round gray tabletrashbin, empty into the big bin", + "num_frames": 319, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 318, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "right", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 211, + "arm": "left", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000387.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000387.json new file mode 100644 index 0000000000000000000000000000000000000000..cc102466bfd771f6051acc33ae7bb3a7b7edaf39 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000387.json @@ -0,0 +1,39 @@ +{ + "episode_index": 387, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the light gray smooth tabletrashbin up, pour all balls inside bin", + "num_frames": 164, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 163, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000388.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000388.json new file mode 100644 index 0000000000000000000000000000000000000000..9fbe46e5203b934f0efb6f9d173ee2cac5952a90 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000388.json @@ -0,0 +1,39 @@ +{ + "episode_index": 388, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the cylindrical small white trashbin and empty it into the bin.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000389.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000389.json new file mode 100644 index 0000000000000000000000000000000000000000..8313e59160604d016024be1fef97052749568bee --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000389.json @@ -0,0 +1,39 @@ +{ + "episode_index": 389, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the small container with yellow logo and pour contents down.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000390.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000390.json new file mode 100644 index 0000000000000000000000000000000000000000..8b4e75f97798229f86fc7e5aa5bbccd697ee6898 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000390.json @@ -0,0 +1,39 @@ +{ + "episode_index": 390, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the tabletrashbin for holding waste, pour its contents away.", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000391.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000391.json new file mode 100644 index 0000000000000000000000000000000000000000..42e76927a8b8a6711ffae37c5b76f63f39d4b01e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000391.json @@ -0,0 +1,39 @@ +{ + "episode_index": 391, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the rectangular tabletop waste container, pour contents into big bin", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000392.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000392.json new file mode 100644 index 0000000000000000000000000000000000000000..528252993ecc5d168a41f6111903fece1273722e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000392.json @@ -0,0 +1,53 @@ +{ + "episode_index": 392, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the open-top tabletrashbin and empty its contents.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000393.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000393.json new file mode 100644 index 0000000000000000000000000000000000000000..0c71c9269c60d6a54649e0f99a8fc6c57723730c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000393.json @@ -0,0 +1,39 @@ +{ + "episode_index": 393, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Control the arm to raise the light gray tabletrashbin and pour.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000394.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000394.json new file mode 100644 index 0000000000000000000000000000000000000000..68a91ddc0c15647835a68fc25e47c7f29b9385d4 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000394.json @@ -0,0 +1,53 @@ +{ + "episode_index": 394, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the white cylindrical waste bin, pour its contents away.", + "num_frames": 344, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 343, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 134, + "arm": "right", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + }, + { + "frame": 222, + "arm": "left", + "kind": "close", + "start_frame": 215, + "end_frame": 229 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000395.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000395.json new file mode 100644 index 0000000000000000000000000000000000000000..16984a16d2626caf187545d3e31e93435a7d179a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000395.json @@ -0,0 +1,53 @@ +{ + "episode_index": 395, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the white bin with flared top edge using arm, pour contents inside", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000396.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000396.json new file mode 100644 index 0000000000000000000000000000000000000000..8972bb8be629743858b2188128bbfcf8217b5b70 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000396.json @@ -0,0 +1,39 @@ +{ + "episode_index": 396, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the cylindrical tabletrashbin and dump the balls.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000397.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000397.json new file mode 100644 index 0000000000000000000000000000000000000000..1434edccaeef569a85122f68bb3b1e622a87b411 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000397.json @@ -0,0 +1,39 @@ +{ + "episode_index": 397, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the compact tabletop trashbin using arm, pour contents inside", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000398.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000398.json new file mode 100644 index 0000000000000000000000000000000000000000..9cc13abae200b02c7685176ff26688fd6af89436 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000398.json @@ -0,0 +1,39 @@ +{ + "episode_index": 398, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the tabletrashbin for holding waste, empty into the big bin", + "num_frames": 161, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 160, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000399.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000399.json new file mode 100644 index 0000000000000000000000000000000000000000..3c26e0ea0f1b12d816eecbd506d01479a9cbc36d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000399.json @@ -0,0 +1,53 @@ +{ + "episode_index": 399, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the dark gray cylindrical tabletrashbin and dump the balls.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000400.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000400.json new file mode 100644 index 0000000000000000000000000000000000000000..d3dd7ce175c22b7593a131f53651d5153ea4fc5e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000400.json @@ -0,0 +1,39 @@ +{ + "episode_index": 400, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the rectangular tabletop waste container and pour carefully.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000401.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000401.json new file mode 100644 index 0000000000000000000000000000000000000000..7975683b75dd28296c38b9261c4d8e6d19d8f185 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000401.json @@ -0,0 +1,39 @@ +{ + "episode_index": 401, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the light gray waste container up, pour all balls inside bin", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000402.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000402.json new file mode 100644 index 0000000000000000000000000000000000000000..f3030468ee9bbf93af35f24f8b09fff062541020 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000402.json @@ -0,0 +1,39 @@ +{ + "episode_index": 402, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the compact rectangular tabletrashbin to pour the balls out.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000403.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000403.json new file mode 100644 index 0000000000000000000000000000000000000000..646307e29e2ee260ae1f961f91cc818a58ab3925 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000403.json @@ -0,0 +1,39 @@ +{ + "episode_index": 403, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pour balls from the desk-sized white tabletrashbin into the bin.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000404.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000404.json new file mode 100644 index 0000000000000000000000000000000000000000..e1829c38513cb60f54387d8865e48ad7acc9173c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000404.json @@ -0,0 +1,39 @@ +{ + "episode_index": 404, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the light gray smooth tabletrashbin to pour the balls out.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000405.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000405.json new file mode 100644 index 0000000000000000000000000000000000000000..d7e51d965988b3a324137931ddf9279f36290498 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000405.json @@ -0,0 +1,53 @@ +{ + "episode_index": 405, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the desk-sized white tabletrashbin, then pour contents.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000406.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000406.json new file mode 100644 index 0000000000000000000000000000000000000000..ea1fb71bdabc0fa14283411ad25d6b905970fefd --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000406.json @@ -0,0 +1,39 @@ +{ + "episode_index": 406, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the cylindrical tabletrashbin with flared rim and pour contents down.", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000407.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000407.json new file mode 100644 index 0000000000000000000000000000000000000000..409f6e549e68377dce944f1e6428231ba7ebec44 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000407.json @@ -0,0 +1,53 @@ +{ + "episode_index": 407, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to lift the round gray tabletrashbin and empty it.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000408.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000408.json new file mode 100644 index 0000000000000000000000000000000000000000..6410e8b1b9f8355b03e81030b85dfae3ca490931 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000408.json @@ -0,0 +1,53 @@ +{ + "episode_index": 408, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the smooth plastic tabletrashbin to pour the balls out.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000409.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000409.json new file mode 100644 index 0000000000000000000000000000000000000000..141c7097d2f1e679cd5757e24dc87bc2105a2d54 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000409.json @@ -0,0 +1,53 @@ +{ + "episode_index": 409, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the light gray tabletrashbin, pour contents.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000410.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000410.json new file mode 100644 index 0000000000000000000000000000000000000000..b4e1d0d00f3dfa4e2af8e71da509f70ef3882dc8 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000410.json @@ -0,0 +1,53 @@ +{ + "episode_index": 410, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the compact speckled surface tabletrashbin, pour into the big bin.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 338, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 219, + "arm": "left", + "kind": "close", + "start_frame": 212, + "end_frame": 226 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000411.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000411.json new file mode 100644 index 0000000000000000000000000000000000000000..f348721a5bfe4fbda7126f6f00cd681d2c763cc2 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000411.json @@ -0,0 +1,39 @@ +{ + "episode_index": 411, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to empty the light gray tabletrashbin into the bin.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000412.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000412.json new file mode 100644 index 0000000000000000000000000000000000000000..a7d2246167df336035774eafa4a738d953d18189 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000412.json @@ -0,0 +1,39 @@ +{ + "episode_index": 412, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the small rectangular tabletrashbin, pour the balls into big bin", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000413.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000413.json new file mode 100644 index 0000000000000000000000000000000000000000..dc45fa0bdd3eb93bc893372ca947c8c93cb9e454 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000413.json @@ -0,0 +1,53 @@ +{ + "episode_index": 413, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the white bin with flared top edge, pour its contents out.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 338, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000414.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000414.json new file mode 100644 index 0000000000000000000000000000000000000000..4b92b45cf97b26f06a1a2a3e824a6a0014e4109e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000414.json @@ -0,0 +1,53 @@ +{ + "episode_index": 414, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the small white trashbin and dump the balls.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 134, + "arm": "right", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000415.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000415.json new file mode 100644 index 0000000000000000000000000000000000000000..9fbbd4fe7288d6358c93c6c391e856539bc3ea21 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000415.json @@ -0,0 +1,53 @@ +{ + "episode_index": 415, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the tabletrashbin with smooth grooves and empty balls into the bin.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000416.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000416.json new file mode 100644 index 0000000000000000000000000000000000000000..96aae333e2780bb1c6bfe1187e3d22be98c92c26 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000416.json @@ -0,0 +1,53 @@ +{ + "episode_index": 416, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the cylindrical tabletrashbin with flared rim and empty it into the bin.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000417.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000417.json new file mode 100644 index 0000000000000000000000000000000000000000..65b5dad1c4485638fe0e6881ef76c92054fbf79b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000417.json @@ -0,0 +1,53 @@ +{ + "episode_index": 417, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the tabletrashbin, then pour the balls.", + "num_frames": 325, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 324, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 211, + "arm": "left", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000418.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000418.json new file mode 100644 index 0000000000000000000000000000000000000000..1b62bde107563a17be63208602984ac5658fa623 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000418.json @@ -0,0 +1,39 @@ +{ + "episode_index": 418, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the cylindrical tabletrashbin and pour all balls into bin", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000419.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000419.json new file mode 100644 index 0000000000000000000000000000000000000000..483da79d7e600744afc1afbfdc337a52558776d5 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000419.json @@ -0,0 +1,39 @@ +{ + "episode_index": 419, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the cylindrical small white trashbin using arm, pour contents inside", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000420.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000420.json new file mode 100644 index 0000000000000000000000000000000000000000..d11bff67400afd5fafff8a8b303d63f047183c95 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000420.json @@ -0,0 +1,39 @@ +{ + "episode_index": 420, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the small tabletop trashbin, pour contents.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000421.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000421.json new file mode 100644 index 0000000000000000000000000000000000000000..c50668771f7b82e612546c25883b430483b020db --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000421.json @@ -0,0 +1,39 @@ +{ + "episode_index": 421, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the white bin with flared top edge and pour its contents into bin.", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000422.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000422.json new file mode 100644 index 0000000000000000000000000000000000000000..b3f5702ce1c4998a809d1057fa771dd8b5b7579b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000422.json @@ -0,0 +1,39 @@ +{ + "episode_index": 422, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Control the arm to raise the small white trashbin and pour.", + "num_frames": 154, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 153, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000423.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000423.json new file mode 100644 index 0000000000000000000000000000000000000000..f9d273a23aa249ece58c2eb0b624b5f8e50cd968 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000423.json @@ -0,0 +1,39 @@ +{ + "episode_index": 423, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the desk-sized white tabletrashbin and pour contents.", + "num_frames": 164, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 163, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 51, + "arm": "left", + "kind": "close", + "start_frame": 44, + "end_frame": 58 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000424.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000424.json new file mode 100644 index 0000000000000000000000000000000000000000..98a9d28cfd7ceb17b4d1d81fdfc8b88ddfcd4a01 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000424.json @@ -0,0 +1,39 @@ +{ + "episode_index": 424, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the compact tabletop trashbin and pour carefully.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000425.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000425.json new file mode 100644 index 0000000000000000000000000000000000000000..b2a06b87ad382a3e8dcc8cc40685e465ab4c73c5 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000425.json @@ -0,0 +1,39 @@ +{ + "episode_index": 425, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the light gray bucket-shaped waste bin and dump the balls.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000426.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000426.json new file mode 100644 index 0000000000000000000000000000000000000000..7f37adb3aa716fe5b893e5300c09261a552086b4 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000426.json @@ -0,0 +1,39 @@ +{ + "episode_index": 426, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the simple tabletop trashbin, pour its contents out.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000427.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000427.json new file mode 100644 index 0000000000000000000000000000000000000000..63c42e339e8cfa409b266d581e787c49ec190ec1 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000427.json @@ -0,0 +1,39 @@ +{ + "episode_index": 427, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the open gray tabletrashbin and pour contents down.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000428.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000428.json new file mode 100644 index 0000000000000000000000000000000000000000..119928608bb1c1aa04e64acbb30fbe52cccdb734 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000428.json @@ -0,0 +1,39 @@ +{ + "episode_index": 428, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the open gray tabletrashbin, pour the balls into big bin", + "num_frames": 161, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 160, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000429.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000429.json new file mode 100644 index 0000000000000000000000000000000000000000..fbf6bbb76d02ca5f854f9e462eaab1fbb1c67998 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000429.json @@ -0,0 +1,53 @@ +{ + "episode_index": 429, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the tabletrashbin for tabletop trash using arm, pour contents inside", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000430.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000430.json new file mode 100644 index 0000000000000000000000000000000000000000..eb43464d524f7cafdb277a6ddd0666a7376ca01f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000430.json @@ -0,0 +1,39 @@ +{ + "episode_index": 430, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the white round tabletrashbin, empty into the big bin", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000431.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000431.json new file mode 100644 index 0000000000000000000000000000000000000000..267ba493b057f05d5ba6b4b9bb52aac1c7e0e910 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000431.json @@ -0,0 +1,39 @@ +{ + "episode_index": 431, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the mini white trashbin for desk and pour into bin.", + "num_frames": 157, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 156, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000432.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000432.json new file mode 100644 index 0000000000000000000000000000000000000000..c858c423f1f7c3e1d2b0878543318d3f92919447 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000432.json @@ -0,0 +1,39 @@ +{ + "episode_index": 432, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift up the small rectangular bin for waste, then pour balls.", + "num_frames": 175, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 174, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000433.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000433.json new file mode 100644 index 0000000000000000000000000000000000000000..24c4eb1cb7de93afafa3cf5af6f45faca6058141 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000433.json @@ -0,0 +1,53 @@ +{ + "episode_index": 433, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Direct the arm to grab the tabletrashbin with grooves on sides and tilt.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000434.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000434.json new file mode 100644 index 0000000000000000000000000000000000000000..03aa4929f1d1d7b24fbcace587a6769a7d603886 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000434.json @@ -0,0 +1,39 @@ +{ + "episode_index": 434, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the small light gray waste bin, then pour contents.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000435.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000435.json new file mode 100644 index 0000000000000000000000000000000000000000..f6ada1d72c3396396e78e7d4467074b9aa6b3c17 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000435.json @@ -0,0 +1,39 @@ +{ + "episode_index": 435, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to grab the light gray waste container and pour.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000436.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000436.json new file mode 100644 index 0000000000000000000000000000000000000000..efadfaeec41829d3ea61a7ce240a1400c68232af --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000436.json @@ -0,0 +1,39 @@ +{ + "episode_index": 436, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the smooth plastic tabletrashbin, then pour balls into the bin.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000437.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000437.json new file mode 100644 index 0000000000000000000000000000000000000000..a1acebfa24273e22e46c9c0d10be99abc23f013e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000437.json @@ -0,0 +1,39 @@ +{ + "episode_index": 437, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the rectangular tabletop waste container and empty its contents.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000438.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000438.json new file mode 100644 index 0000000000000000000000000000000000000000..50d3eb711dc67f07dddce182c3bc18f71efd1935 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000438.json @@ -0,0 +1,39 @@ +{ + "episode_index": 438, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the tabletrashbin with smooth grooves and pour the balls.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000439.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000439.json new file mode 100644 index 0000000000000000000000000000000000000000..426ddb83d711b9dc6bae02f62327f07a8355b057 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000439.json @@ -0,0 +1,53 @@ +{ + "episode_index": 439, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the small tabletrashbin and pour.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 220, + "arm": "left", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000440.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000440.json new file mode 100644 index 0000000000000000000000000000000000000000..cc871720872c10e82207c3f0c45bfda6c7f765d0 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000440.json @@ -0,0 +1,39 @@ +{ + "episode_index": 440, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the light gray bucket-shaped waste bin with arm and pour contents", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000441.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000441.json new file mode 100644 index 0000000000000000000000000000000000000000..ba3c5af05f3ae15cb0249c0553488023a722ebd9 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000441.json @@ -0,0 +1,53 @@ +{ + "episode_index": 441, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the open-top tabletrashbin and pour contents down.", + "num_frames": 346, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 345, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 224, + "arm": "left", + "kind": "close", + "start_frame": 217, + "end_frame": 231 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000442.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000442.json new file mode 100644 index 0000000000000000000000000000000000000000..de443e0c51a2217d7f25e8ff111b17ee33d8bb4c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000442.json @@ -0,0 +1,53 @@ +{ + "episode_index": 442, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the simple tabletop trashbin, then pour the balls.", + "num_frames": 323, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 322, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000443.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000443.json new file mode 100644 index 0000000000000000000000000000000000000000..6f6ec2c78346176fe67e29f64cd9bd5d9752e15c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000443.json @@ -0,0 +1,39 @@ +{ + "episode_index": 443, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Control the arm to raise the small rectangular bin for waste and pour.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000444.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000444.json new file mode 100644 index 0000000000000000000000000000000000000000..7a72574fb2c3c4561c294342792575447cb58a2b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000444.json @@ -0,0 +1,39 @@ +{ + "episode_index": 444, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Raise the mini white trashbin for desk to dump its contents out.", + "num_frames": 161, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 160, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000445.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000445.json new file mode 100644 index 0000000000000000000000000000000000000000..07ad9f1ae18f1e886a2426cf6ad25fff0eb3937c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000445.json @@ -0,0 +1,53 @@ +{ + "episode_index": 445, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the simple white plastic trashbin and transfer balls to the bin.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000446.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000446.json new file mode 100644 index 0000000000000000000000000000000000000000..cb96b7d56e213b168272c14264fbdfabbd260f2b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000446.json @@ -0,0 +1,39 @@ +{ + "episode_index": 446, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the smooth plastic tabletrashbin, then pour the balls.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000447.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000447.json new file mode 100644 index 0000000000000000000000000000000000000000..e54fb741337a91e27aeb8136f2aa05359c2a8da7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000447.json @@ -0,0 +1,53 @@ +{ + "episode_index": 447, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the dark gray cylindrical tabletrashbin and empty its contents.", + "num_frames": 353, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 352, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 66, + "arm": "right", + "kind": "close", + "start_frame": 59, + "end_frame": 73 + }, + { + "frame": 142, + "arm": "right", + "kind": "open", + "start_frame": 135, + "end_frame": 149 + }, + { + "frame": 230, + "arm": "left", + "kind": "close", + "start_frame": 223, + "end_frame": 237 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000448.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000448.json new file mode 100644 index 0000000000000000000000000000000000000000..f452b0a07443fe2ad04a4f64ce95d3145058e715 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000448.json @@ -0,0 +1,39 @@ +{ + "episode_index": 448, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the small container with yellow logo and pour the balls.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000449.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000449.json new file mode 100644 index 0000000000000000000000000000000000000000..a8e9e28102589beac41880ea20d021bb68f9fdd0 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000449.json @@ -0,0 +1,53 @@ +{ + "episode_index": 449, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the small light gray waste bin and empty it into the bin.", + "num_frames": 343, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 342, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 135, + "arm": "right", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + }, + { + "frame": 225, + "arm": "left", + "kind": "close", + "start_frame": 218, + "end_frame": 232 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000450.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000450.json new file mode 100644 index 0000000000000000000000000000000000000000..96ef4cd020caae61646e3b0e28a6ea8c1b20856f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000450.json @@ -0,0 +1,39 @@ +{ + "episode_index": 450, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the tabletrashbin for holding waste, pour contents.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000451.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000451.json new file mode 100644 index 0000000000000000000000000000000000000000..382ad9328186cf71d11d565422b4cc0903481a7f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000451.json @@ -0,0 +1,53 @@ +{ + "episode_index": 451, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the simple white plastic trashbin, pour its contents away.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "right", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 212, + "arm": "left", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000452.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000452.json new file mode 100644 index 0000000000000000000000000000000000000000..823f4fe5cbdd688dd6a29a3bfc3b81aa6275aa73 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000452.json @@ -0,0 +1,39 @@ +{ + "episode_index": 452, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the compact speckled surface tabletrashbin and pour contents.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000453.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000453.json new file mode 100644 index 0000000000000000000000000000000000000000..2536472e7377392f6564cafcaf79101201dc4e18 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000453.json @@ -0,0 +1,39 @@ +{ + "episode_index": 453, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to grab the white cylindrical waste bin and pour.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000454.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000454.json new file mode 100644 index 0000000000000000000000000000000000000000..a8eeec3c6e383c416475a9b5ce87a8a4e60af77c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000454.json @@ -0,0 +1,39 @@ +{ + "episode_index": 454, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the smooth plastic tabletrashbin and pour the balls out.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000455.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000455.json new file mode 100644 index 0000000000000000000000000000000000000000..9182a865bdb07b887bcaa7db0b94cf574f9dd3fa --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000455.json @@ -0,0 +1,39 @@ +{ + "episode_index": 455, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the cylindrical small white trashbin using arm, pour contents inside", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000456.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000456.json new file mode 100644 index 0000000000000000000000000000000000000000..f74e7ffdfdf72400d28ccb87e6ad71e892183ed2 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000456.json @@ -0,0 +1,53 @@ +{ + "episode_index": 456, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pour balls from the rectangular tabletop waste container into the bin.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 123, + "arm": "right", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 212, + "arm": "left", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000457.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000457.json new file mode 100644 index 0000000000000000000000000000000000000000..9f94a8de113336ecd270e4dc4dfff456fe299f45 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000457.json @@ -0,0 +1,53 @@ +{ + "episode_index": 457, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the simple white plastic trashbin using arm, pour contents inside", + "num_frames": 323, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 322, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "right", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 212, + "arm": "left", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000458.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000458.json new file mode 100644 index 0000000000000000000000000000000000000000..4b95f206cad7c2fa18d47df2ad3db9b00606d337 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000458.json @@ -0,0 +1,39 @@ +{ + "episode_index": 458, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the small rectangular bin for waste using arm, pour contents inside", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000459.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000459.json new file mode 100644 index 0000000000000000000000000000000000000000..4d635dde704cc15e95b0402578153725a78171a6 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000459.json @@ -0,0 +1,53 @@ +{ + "episode_index": 459, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the mini white trashbin for desk, then pour contents.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000460.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000460.json new file mode 100644 index 0000000000000000000000000000000000000000..fd5621f53366ef884155d5ef3bcd557ea8da7884 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000460.json @@ -0,0 +1,53 @@ +{ + "episode_index": 460, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Direct the arm to grab the compact rectangular tabletrashbin and tilt.", + "num_frames": 345, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 344, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 224, + "arm": "left", + "kind": "close", + "start_frame": 217, + "end_frame": 231 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000461.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000461.json new file mode 100644 index 0000000000000000000000000000000000000000..d5af8191e46addc8436400d88b548404aeac2d99 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000461.json @@ -0,0 +1,39 @@ +{ + "episode_index": 461, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the open-top tabletrashbin, pour the balls into big bin", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000462.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000462.json new file mode 100644 index 0000000000000000000000000000000000000000..a7e90e871f881a5a2bf53e8c5f9766d7121d412b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000462.json @@ -0,0 +1,53 @@ +{ + "episode_index": 462, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the tabletrashbin with tapered sides up, pour all balls inside bin", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "right", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 207, + "arm": "left", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000463.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000463.json new file mode 100644 index 0000000000000000000000000000000000000000..33985cddf40370bb85f4f354626fe61a14204e95 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000463.json @@ -0,0 +1,53 @@ +{ + "episode_index": 463, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grasp the compact bin with rounded edges and empty it out.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000464.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000464.json new file mode 100644 index 0000000000000000000000000000000000000000..14e9a8d288e91dcb053842b159758ca37593c219 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000464.json @@ -0,0 +1,39 @@ +{ + "episode_index": 464, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pour balls from the tabletrashbin with grooves on sides into the bin.", + "num_frames": 160, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 159, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000465.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000465.json new file mode 100644 index 0000000000000000000000000000000000000000..2e483af7c2cd9cadad78956fd6a50c5a9736d88a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000465.json @@ -0,0 +1,53 @@ +{ + "episode_index": 465, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the cylindrical tabletrashbin with flared rim and pour the balls.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "right", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000466.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000466.json new file mode 100644 index 0000000000000000000000000000000000000000..e2422135b7008b26f2649088180ea4732565bb94 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000466.json @@ -0,0 +1,39 @@ +{ + "episode_index": 466, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the tabletrashbin with black specks, empty into the big bin", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000467.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000467.json new file mode 100644 index 0000000000000000000000000000000000000000..d8541b8c7a075d14c6dfce43e48b6b7402643004 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000467.json @@ -0,0 +1,53 @@ +{ + "episode_index": 467, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the smooth plastic tabletrashbin, then pour balls into the bin.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000468.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000468.json new file mode 100644 index 0000000000000000000000000000000000000000..3a1af5b97d8ce2c49b34ce5d8b15fb3e21a78177 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000468.json @@ -0,0 +1,53 @@ +{ + "episode_index": 468, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the cylindrical small white trashbin and pour contents down.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000469.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000469.json new file mode 100644 index 0000000000000000000000000000000000000000..1e0ff9397db031f90d22d7319b45d12843f01b81 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000469.json @@ -0,0 +1,53 @@ +{ + "episode_index": 469, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pour balls from the plastic tabletrashbin into the bin.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000470.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000470.json new file mode 100644 index 0000000000000000000000000000000000000000..6b0e4cbfcf4ac961f79b177748bb9588dc0343b1 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000470.json @@ -0,0 +1,53 @@ +{ + "episode_index": 470, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the round gray tabletrashbin and dump the balls.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 337, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 135, + "arm": "right", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + }, + { + "frame": 223, + "arm": "left", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000471.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000471.json new file mode 100644 index 0000000000000000000000000000000000000000..66f229bf4a6c7206991bbbe306b1f64071ced8c3 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000471.json @@ -0,0 +1,39 @@ +{ + "episode_index": 471, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the simple white plastic trashbin, then pour contents.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000472.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000472.json new file mode 100644 index 0000000000000000000000000000000000000000..740b31569a2cff80ef50be8ef78d5d95a596d3e5 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000472.json @@ -0,0 +1,53 @@ +{ + "episode_index": 472, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the white bin with flared top edge, then pour contents.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "right", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 212, + "arm": "left", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000473.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000473.json new file mode 100644 index 0000000000000000000000000000000000000000..edee93bfbcf3106e3e58640073433b4b8ce3ac8b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000473.json @@ -0,0 +1,53 @@ +{ + "episode_index": 473, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the light gray tabletrashbin and pour it out.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000474.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000474.json new file mode 100644 index 0000000000000000000000000000000000000000..2f6cb57a072379070677f6e0b429926b28cb8cbd --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000474.json @@ -0,0 +1,39 @@ +{ + "episode_index": 474, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the white round tabletrashbin and pour its contents into bin.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000475.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000475.json new file mode 100644 index 0000000000000000000000000000000000000000..5badffabcb178ea93e8ef77f288a804e25ef11d0 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000475.json @@ -0,0 +1,39 @@ +{ + "episode_index": 475, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the dark gray cylindrical tabletrashbin, pour contents into big bin", + "num_frames": 176, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 175, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000476.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000476.json new file mode 100644 index 0000000000000000000000000000000000000000..eb887fff74ea94a8ca27bf898a37423f988c72ae --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000476.json @@ -0,0 +1,53 @@ +{ + "episode_index": 476, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the desk-sized white tabletrashbin and pour the balls.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 211, + "arm": "left", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000477.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000477.json new file mode 100644 index 0000000000000000000000000000000000000000..1796d8345eb5c92cbbfd09411401a2a3fb3071a5 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000477.json @@ -0,0 +1,39 @@ +{ + "episode_index": 477, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the mini white trashbin for desk, then pour contents.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000478.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000478.json new file mode 100644 index 0000000000000000000000000000000000000000..eafcfbe20f37d8b610b12f53f16e795bfdcccf31 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000478.json @@ -0,0 +1,39 @@ +{ + "episode_index": 478, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the open gray tabletrashbin and pour its contents into bin.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000479.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000479.json new file mode 100644 index 0000000000000000000000000000000000000000..0c24558927cefe600a3924129adf5f7e192c3e71 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000479.json @@ -0,0 +1,39 @@ +{ + "episode_index": 479, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the plastic tabletrashbin and pour the balls.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000480.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000480.json new file mode 100644 index 0000000000000000000000000000000000000000..f6305b64fa52d0005799896d9ad4f4f688db6152 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000480.json @@ -0,0 +1,53 @@ +{ + "episode_index": 480, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the white cylindrical waste bin and dump the balls.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000481.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000481.json new file mode 100644 index 0000000000000000000000000000000000000000..fa1cfa72997aafa7df3ab23de68bcc9fda24df37 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000481.json @@ -0,0 +1,53 @@ +{ + "episode_index": 481, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab and tilt the cylindrical tabletrashbin with flared rim to empty the balls.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 337, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "right", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000482.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000482.json new file mode 100644 index 0000000000000000000000000000000000000000..f1ba02ff08bda7575252213d3a9f49e9a6e1207d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000482.json @@ -0,0 +1,39 @@ +{ + "episode_index": 482, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grasp the white bin with flared top edge and empty it out.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000483.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000483.json new file mode 100644 index 0000000000000000000000000000000000000000..c2bea6a7a5fbfbb4fc31139056e312e05ba2da5a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000483.json @@ -0,0 +1,53 @@ +{ + "episode_index": 483, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the gray plastic trashbin and pour the balls.", + "num_frames": 342, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 341, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000484.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000484.json new file mode 100644 index 0000000000000000000000000000000000000000..42fd88896f25f977966e0d1c5c2df095df68ce74 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000484.json @@ -0,0 +1,39 @@ +{ + "episode_index": 484, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the tabletrashbin and pour the balls out.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000485.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000485.json new file mode 100644 index 0000000000000000000000000000000000000000..3ec767ce558c15dc2f3c601ea789d8432504c961 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000485.json @@ -0,0 +1,39 @@ +{ + "episode_index": 485, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the cylindrical tabletrashbin and pour balls into the bin.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000486.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000486.json new file mode 100644 index 0000000000000000000000000000000000000000..9d2f58450826ea836e4052a7bf8b7ed927773647 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000486.json @@ -0,0 +1,39 @@ +{ + "episode_index": 486, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to lift the small rectangular tabletrashbin and empty it.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000487.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000487.json new file mode 100644 index 0000000000000000000000000000000000000000..ef25a4cef1fb6aa9cac5ca30ede84004bc700989 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000487.json @@ -0,0 +1,39 @@ +{ + "episode_index": 487, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to lift the light gray trash bin and empty it.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000488.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000488.json new file mode 100644 index 0000000000000000000000000000000000000000..5ae68ea63ef63f680c245e242f37bb7f7c7b3ee8 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000488.json @@ -0,0 +1,39 @@ +{ + "episode_index": 488, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the white round tabletrashbin to pour the balls out.", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000489.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000489.json new file mode 100644 index 0000000000000000000000000000000000000000..6b663fbe788468a2a1585d47973b96ba01098462 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000489.json @@ -0,0 +1,39 @@ +{ + "episode_index": 489, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the tabletrashbin, pour the balls into big bin", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000490.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000490.json new file mode 100644 index 0000000000000000000000000000000000000000..86c56f606c8893251fddf10af92a988e4f758506 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000490.json @@ -0,0 +1,39 @@ +{ + "episode_index": 490, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the small cylindrical speckled tabletrashbin and pour the balls.", + "num_frames": 175, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 174, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000491.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000491.json new file mode 100644 index 0000000000000000000000000000000000000000..598dca209c0abdc73504e405091b23a85bfbd998 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000491.json @@ -0,0 +1,39 @@ +{ + "episode_index": 491, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the white bin with flared top edge and pour contents.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000492.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000492.json new file mode 100644 index 0000000000000000000000000000000000000000..ac393afffc978e213d908c2df326cc98543a18ef --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000492.json @@ -0,0 +1,39 @@ +{ + "episode_index": 492, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the white round tabletrashbin using the arm to pour balls.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000493.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000493.json new file mode 100644 index 0000000000000000000000000000000000000000..1649df70191a21f2b6b6e3537e78cc3c95ad3dd2 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000493.json @@ -0,0 +1,53 @@ +{ + "episode_index": 493, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the compact tabletop trashbin and transfer balls.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000494.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000494.json new file mode 100644 index 0000000000000000000000000000000000000000..a68ad27a93907c0fb514f6eefbc51d76fb51f97f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000494.json @@ -0,0 +1,39 @@ +{ + "episode_index": 494, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to pick the plastic tabletrashbin, pour in bin", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000495.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000495.json new file mode 100644 index 0000000000000000000000000000000000000000..798dc38371e1b95896d1c46b91d63e88db2d0733 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000495.json @@ -0,0 +1,53 @@ +{ + "episode_index": 495, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the light gray cylindrical trashbin and pour the balls.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000496.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000496.json new file mode 100644 index 0000000000000000000000000000000000000000..875be91fc6a62ff3c838e6e2659fe6c4b6c8cbb2 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000496.json @@ -0,0 +1,39 @@ +{ + "episode_index": 496, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the cylindrical tabletrashbin and empty it into the bin.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000497.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000497.json new file mode 100644 index 0000000000000000000000000000000000000000..35a8fbdb583daa148569186a8ed57d43e18386a4 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000497.json @@ -0,0 +1,39 @@ +{ + "episode_index": 497, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the cylindrical small white trashbin, dump balls in big bin", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000498.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000498.json new file mode 100644 index 0000000000000000000000000000000000000000..6d53be79a2e4555925e2174fa17ccdb9f791ccb4 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000498.json @@ -0,0 +1,39 @@ +{ + "episode_index": 498, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the light gray tabletrashbin using the arm to pour balls.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000499.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000499.json new file mode 100644 index 0000000000000000000000000000000000000000..f75abcac092c775ff52731aaa76212853a59633e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000499.json @@ -0,0 +1,39 @@ +{ + "episode_index": 499, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the white cylindrical waste bin, empty into the big bin", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000000.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..30b0801f6b15e27468534605475e38ed309f3475 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000000.json @@ -0,0 +1,39 @@ +{ + "episode_index": 0, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the simple white plastic trashbin, then pour balls into the bin.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000001.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..79bf93e7c60e52c6c7ff60bd52d4fb5600f8b4c8 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000001.json @@ -0,0 +1,39 @@ +{ + "episode_index": 1, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to grab the smooth plastic tabletrashbin and pour.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000002.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..b5d291fee3d29b5b95c87ddf94a6c201f51107f7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000002.json @@ -0,0 +1,39 @@ +{ + "episode_index": 2, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the white round tabletrashbin and pour carefully.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000003.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..7941ca9e9ce90bb466838835cb7b0a576dd4762c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000003.json @@ -0,0 +1,39 @@ +{ + "episode_index": 3, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the mini white trashbin for desk and empty its contents.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000004.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..59ce2dba4e8c6edec79d0591bddf8a1672365b15 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000004.json @@ -0,0 +1,53 @@ +{ + "episode_index": 4, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the gray plastic trashbin and transfer balls to the bin.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 219, + "arm": "left", + "kind": "close", + "start_frame": 212, + "end_frame": 226 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000005.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..c145de03ccf3478cdd407dbda98e4a3b7d2b0bcf --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000005.json @@ -0,0 +1,53 @@ +{ + "episode_index": 5, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the small trash container and pour carefully.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 340, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 220, + "arm": "left", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000006.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..bdf3d5f25dd221ac8805a197cdfe9ca63cac8cae --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000006.json @@ -0,0 +1,53 @@ +{ + "episode_index": 6, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Control the arm to raise the light gray tabletrashbin and pour.", + "num_frames": 342, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 341, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 135, + "arm": "right", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + }, + { + "frame": 223, + "arm": "left", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000007.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..1f151f7665d33f7ed0de0c22fb9767564eb1f2e7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000007.json @@ -0,0 +1,39 @@ +{ + "episode_index": 7, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the small tabletrashbin and pour the balls.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000008.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..1e717117822b9e76da57beed6347c55c4f3aa7a6 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000008.json @@ -0,0 +1,39 @@ +{ + "episode_index": 8, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the tabletrashbin with yellow symbol, pour into the big bin.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000009.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..d9c04e6200b22fbcba596c0f55f21bed104f3ead --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000009.json @@ -0,0 +1,39 @@ +{ + "episode_index": 9, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the small rectangular bin for waste and pour balls into the bin.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000010.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000010.json new file mode 100644 index 0000000000000000000000000000000000000000..855006a116f91a6b3b6b86e8c436f9176cacf58e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000010.json @@ -0,0 +1,53 @@ +{ + "episode_index": 10, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the cylindrical small white trashbin, pour its contents out.", + "num_frames": 324, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 323, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000011.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000011.json new file mode 100644 index 0000000000000000000000000000000000000000..299c640fd1ea9d3bdf32d5112d8c584a9c5ccc3c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000011.json @@ -0,0 +1,39 @@ +{ + "episode_index": 11, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the gray plastic trashbin and pour contents down.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000012.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000012.json new file mode 100644 index 0000000000000000000000000000000000000000..fd3437d25aece69cb4f1c95f0f406fccdbb1e909 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000012.json @@ -0,0 +1,53 @@ +{ + "episode_index": 12, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the small container with yellow logo, then pour balls into the bin.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000013.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000013.json new file mode 100644 index 0000000000000000000000000000000000000000..2aa7bfabee1be821d7da88117fe635d67033aa92 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000013.json @@ -0,0 +1,53 @@ +{ + "episode_index": 13, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the small white trashbin and pour all balls into bin", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 338, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000014.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000014.json new file mode 100644 index 0000000000000000000000000000000000000000..b84e74b13764f98109f6a502da483a4e0c70251a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000014.json @@ -0,0 +1,39 @@ +{ + "episode_index": 14, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the white bin with flared top edge, dump balls in big bin", + "num_frames": 164, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 163, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000015.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000015.json new file mode 100644 index 0000000000000000000000000000000000000000..107e43cd585b9ff12c7c639710b2ef6ba6a36393 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000015.json @@ -0,0 +1,39 @@ +{ + "episode_index": 15, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the small rectangular tabletrashbin and pour into bin.", + "num_frames": 170, + "subtasks": [ + { + 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b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000016.json new file mode 100644 index 0000000000000000000000000000000000000000..803c18f76d13166e770236ecc6a3f53fdb7c9a2d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000016.json @@ -0,0 +1,53 @@ +{ + "episode_index": 16, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the black-specked gray tabletrashbin and pour the balls.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + 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b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000017.json @@ -0,0 +1,53 @@ +{ + "episode_index": 17, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the simple white plastic trashbin, pour contents into big bin", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 326, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 125, + "arm": "right", + "kind": 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tabletrashbin and transfer balls.", + "num_frames": 342, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 341, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 219, + "arm": "left", + "kind": "close", + "start_frame": 212, + "end_frame": 226 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000019.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000019.json new file mode 100644 index 0000000000000000000000000000000000000000..523315d60222d0148e9df0ff180251f1acea4a94 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000019.json @@ -0,0 +1,39 @@ +{ + "episode_index": 19, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the small light gray waste bin and pour the balls.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 51, + "arm": "left", + "kind": "close", + "start_frame": 44, + "end_frame": 58 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000020.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000020.json new file mode 100644 index 0000000000000000000000000000000000000000..5415f9c4fbb7e34800448763c18fc73818c88888 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000020.json @@ -0,0 +1,39 @@ +{ + "episode_index": 20, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to pick the gray plastic trashbin, pour in bin", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000021.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000021.json new file mode 100644 index 0000000000000000000000000000000000000000..104e046302f8f96e318350b61c8f1fac62b0691f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000021.json @@ -0,0 +1,53 @@ +{ + "episode_index": 21, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the smooth plastic tabletrashbin and pour all balls into bin", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000022.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000022.json new file mode 100644 index 0000000000000000000000000000000000000000..f581c1751c28196ea851b987aaabba5fbf78fa3b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000022.json @@ -0,0 +1,53 @@ +{ + "episode_index": 22, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the compact tabletop trashbin using the arm to pour balls.", + "num_frames": 326, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 325, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + 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b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000023.json @@ -0,0 +1,39 @@ +{ + "episode_index": 23, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the smooth plastic tabletrashbin, pour contents into big bin", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": 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"subtask_type": "semantic", + "start_frame": 0, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000025.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000025.json new file mode 100644 index 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"close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000026.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000026.json new file mode 100644 index 0000000000000000000000000000000000000000..8ffbe7362aa39d3a6d46d95390b5d6aa6b61a3fa --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000026.json @@ -0,0 +1,39 @@ +{ + "episode_index": 26, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the tabletrashbin for holding waste and pour balls into the bin.", + "num_frames": 175, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 174, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000027.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000027.json new file mode 100644 index 0000000000000000000000000000000000000000..b4c2c2e0ac91b10f9f23ec463e0c890fc8a947f5 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000027.json @@ -0,0 +1,39 @@ +{ + "episode_index": 27, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the desk-sized white tabletrashbin and pour.", + "num_frames": 162, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 161, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000028.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000028.json new file mode 100644 index 0000000000000000000000000000000000000000..2913454d010c0560e824ebdaeb8eb3718ebe71d4 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000028.json @@ -0,0 +1,39 @@ +{ + "episode_index": 28, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the cylindrical tabletrashbin with flared rim and pour the balls.", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000029.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000029.json new file mode 100644 index 0000000000000000000000000000000000000000..bf9608100925c4ff5635a8808f9cbcf318a6048a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000029.json @@ -0,0 +1,39 @@ +{ + "episode_index": 29, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the round gray tabletrashbin, then pour the balls.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000030.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000030.json new file mode 100644 index 0000000000000000000000000000000000000000..610f6d729bfe20f9bf8e8e63af209dfc67df1094 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000030.json @@ -0,0 +1,39 @@ +{ + "episode_index": 30, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the light gray tabletrashbin, then pour contents.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000031.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000031.json new file mode 100644 index 0000000000000000000000000000000000000000..c76a5fad6a78412fa5534e47fd6eb5a3e6f04a79 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000031.json @@ -0,0 +1,39 @@ +{ + "episode_index": 31, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift up the tabletrashbin with grooves on sides, then pour balls.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000032.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000032.json new file mode 100644 index 0000000000000000000000000000000000000000..9dc8f86a3b5a75f1462e6e455fb5284d36d260a1 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000032.json @@ -0,0 +1,39 @@ +{ + "episode_index": 32, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab and tilt the compact bin with rounded edges to empty the balls.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000033.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000033.json new file mode 100644 index 0000000000000000000000000000000000000000..da2a3388ccf3c9fc7a5f85f22e2ac80fb4d976d0 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000033.json @@ -0,0 +1,39 @@ +{ + "episode_index": 33, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the white bin with flared top edge and pour.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000034.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000034.json new file mode 100644 index 0000000000000000000000000000000000000000..694ee55a31738ec442c0cac25da8d98ccc8eab02 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000034.json @@ -0,0 +1,53 @@ +{ + "episode_index": 34, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the compact speckled surface tabletrashbin, pour the balls into big bin", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 219, + "arm": "left", + "kind": "close", + "start_frame": 212, + "end_frame": 226 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000035.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000035.json new file mode 100644 index 0000000000000000000000000000000000000000..70ca5e83591cd4c9951ce3a2b7ff9b6114499ce7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000035.json @@ -0,0 +1,39 @@ +{ + "episode_index": 35, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the simple white plastic trashbin, then pour balls into the bin.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000036.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000036.json new file mode 100644 index 0000000000000000000000000000000000000000..c172cbe528b1241b6e83cc0883180f588d037d57 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000036.json @@ -0,0 +1,53 @@ +{ + "episode_index": 36, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Raise the white round tabletrashbin to dump its contents out.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000037.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000037.json new file mode 100644 index 0000000000000000000000000000000000000000..d28a8c74e8631b5dc1f91908c64e3a0f0ca837c8 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000037.json @@ -0,0 +1,53 @@ +{ + "episode_index": 37, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Move the arm, take the white bin with flared top edge, and pour.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000038.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000038.json new file mode 100644 index 0000000000000000000000000000000000000000..91cd1c1432f93e207654dd27bb780eb12b4d2efe --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000038.json @@ -0,0 +1,39 @@ +{ + "episode_index": 38, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pour balls from the desk-sized white tabletrashbin into the bin.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000039.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000039.json new file mode 100644 index 0000000000000000000000000000000000000000..99d40fa8bfb84bad7afe66a831bee8f2c405b512 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000039.json @@ -0,0 +1,39 @@ +{ + "episode_index": 39, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Direct the arm to grab the small rectangular tabletrashbin and tilt.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000040.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000040.json new file mode 100644 index 0000000000000000000000000000000000000000..eca1f5e42d6e85e1f9fba983b895759b271f2045 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000040.json @@ -0,0 +1,39 @@ +{ + "episode_index": 40, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the cylindrical tabletrashbin and pour contents.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000041.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000041.json new file mode 100644 index 0000000000000000000000000000000000000000..493a73e9e1470054c0af7f29d370686b3b23a4e7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000041.json @@ -0,0 +1,39 @@ +{ + "episode_index": 41, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to lift the light gray trash bin and empty it.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000042.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000042.json new file mode 100644 index 0000000000000000000000000000000000000000..0804dfa64ae33750213d693c26a3073764fcdd4a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000042.json @@ -0,0 +1,39 @@ +{ + "episode_index": 42, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to pick the tabletrashbin with yellow symbol, pour in bin", + "num_frames": 175, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 174, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000043.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000043.json new file mode 100644 index 0000000000000000000000000000000000000000..f02b52590cf878c135d19f5bcf53c2b1eb38ae9f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000043.json @@ -0,0 +1,53 @@ +{ + "episode_index": 43, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the simple tabletop trashbin, then pour balls into the bin.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000044.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000044.json new file mode 100644 index 0000000000000000000000000000000000000000..fdbc4da8a03aad397a04af8b0c78f332e49e3ed6 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000044.json @@ -0,0 +1,39 @@ +{ + "episode_index": 44, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the white cylindrical waste bin and pour its contents into bin.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000045.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000045.json new file mode 100644 index 0000000000000000000000000000000000000000..7a76708a704dffc0af1d614f50ce30e9d9fabba7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000045.json @@ -0,0 +1,39 @@ +{ + "episode_index": 45, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Direct the arm to grab the small rectangular tabletrashbin and tilt.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000046.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000046.json new file mode 100644 index 0000000000000000000000000000000000000000..fe175b40b58226596883ce6ac42ac0747c65c090 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000046.json @@ -0,0 +1,39 @@ +{ + "episode_index": 46, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift up the smooth plastic tabletrashbin, then pour balls.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000047.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000047.json new file mode 100644 index 0000000000000000000000000000000000000000..880cc124e09ffc0e8e31060274644b1fa456e13f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000047.json @@ -0,0 +1,39 @@ +{ + "episode_index": 47, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to lift the tabletrashbin with black specks and empty it.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000048.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000048.json new file mode 100644 index 0000000000000000000000000000000000000000..f22a9db0f6cb2f0404541476e2f8b15b334402ae --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000048.json @@ -0,0 +1,39 @@ +{ + "episode_index": 48, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to grab the compact rectangular tabletrashbin, dump contents", + "num_frames": 178, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 177, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000049.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000049.json new file mode 100644 index 0000000000000000000000000000000000000000..5fd208cade27365f2cdeaf9919ff0d87662a33d7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000049.json @@ -0,0 +1,53 @@ +{ + "episode_index": 49, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to pick the desk-sized white tabletrashbin, pour in bin", + "num_frames": 340, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 339, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 136, + "arm": "right", + "kind": "open", + "start_frame": 129, + "end_frame": 143 + }, + { + "frame": 225, + "arm": "left", + "kind": "close", + "start_frame": 218, + "end_frame": 232 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000050.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000050.json new file mode 100644 index 0000000000000000000000000000000000000000..af65f3e543d3e8ef090e711a87802ac24936a329 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000050.json @@ -0,0 +1,53 @@ +{ + "episode_index": 50, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the compact speckled surface tabletrashbin and pour all balls into bin", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 211, + "arm": "left", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000051.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000051.json new file mode 100644 index 0000000000000000000000000000000000000000..e8a1a41d21b4d459ce74a937e0ddf69a446a3c04 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000051.json @@ -0,0 +1,39 @@ +{ + "episode_index": 51, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the small container with yellow logo and pour the balls.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000052.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000052.json new file mode 100644 index 0000000000000000000000000000000000000000..e7dc97f2fe14bd1abcd017531b166bb32c960e4d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000052.json @@ -0,0 +1,39 @@ +{ + "episode_index": 52, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to lift the desk-sized white tabletrashbin and empty it.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000053.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000053.json new file mode 100644 index 0000000000000000000000000000000000000000..8f6034e5bafeaef4e7645865cdce1b6a80ca5202 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000053.json @@ -0,0 +1,53 @@ +{ + "episode_index": 53, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the cylindrical tabletrashbin with flared rim and pour.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 216, + "arm": "left", + "kind": 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b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000055.json new file mode 100644 index 0000000000000000000000000000000000000000..2d41723bc0d35bde0d98936909ae110127fefe13 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000055.json @@ -0,0 +1,39 @@ +{ + "episode_index": 55, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the simple white plastic trashbin and pour carefully.", + "num_frames": 159, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 158, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000056.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000056.json new file mode 100644 index 0000000000000000000000000000000000000000..7c642b0d2c466c5a15a39139351d05c16b8a9d1f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000056.json @@ -0,0 +1,39 @@ +{ + "episode_index": 56, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the light gray trashbin with open top and pour the balls.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000057.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000057.json new file mode 100644 index 0000000000000000000000000000000000000000..12f7558fe3340c307d1a106e03b7d3ec10f1f1ed --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000057.json @@ -0,0 +1,53 @@ +{ + "episode_index": 57, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the mini white trashbin for desk, pour contents.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 134, + "arm": "right", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + }, + { + "frame": 220, + "arm": "left", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000058.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000058.json new file mode 100644 index 0000000000000000000000000000000000000000..9c4acdd5c2d20e3a065264e21f3369bbee060a96 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000058.json @@ -0,0 +1,53 @@ +{ + "episode_index": 58, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Move the arm, take the open-top tabletrashbin, and pour.", + "num_frames": 340, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 339, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000059.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000059.json new file mode 100644 index 0000000000000000000000000000000000000000..fc08a4c29d31bc17098f973e2e5af9e602100013 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000059.json @@ -0,0 +1,39 @@ +{ + "episode_index": 59, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab and tilt the compact bin with rounded edges to empty the balls.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000060.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000060.json new file mode 100644 index 0000000000000000000000000000000000000000..8de2af0dbd8b6a85dacf1d5abebe528427ca9ec0 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000060.json @@ -0,0 +1,53 @@ +{ + "episode_index": 60, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the simple white plastic trashbin and pour the balls out.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000061.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000061.json new file mode 100644 index 0000000000000000000000000000000000000000..504bbd80c829493cfb9109eb365a6619e1e1f585 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000061.json @@ -0,0 +1,39 @@ +{ + "episode_index": 61, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pour balls from the cylindrical small white trashbin into the bin.", + "num_frames": 158, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 157, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000062.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000062.json new file mode 100644 index 0000000000000000000000000000000000000000..855653442df29926a2a3e2ae0f7ceaed092767c0 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000062.json @@ -0,0 +1,53 @@ +{ + "episode_index": 62, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the compact speckled surface tabletrashbin and pour the balls.", + "num_frames": 333, + "subtasks": [ + { + 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--git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000063.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000063.json new file mode 100644 index 0000000000000000000000000000000000000000..d546693389c8db706e1ca406c6d4fff02b0b5f04 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000063.json @@ -0,0 +1,53 @@ +{ + "episode_index": 63, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the tabletrashbin with smooth grooves, pour contents.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 223, + "arm": "left", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000064.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000064.json new file mode 100644 index 0000000000000000000000000000000000000000..c04bbbcabd2e2e64148c5ec8ccf76c7fc94e69ce --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000064.json @@ -0,0 +1,39 @@ +{ + "episode_index": 64, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the small cylindrical speckled tabletrashbin and pour carefully.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000065.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000065.json new file mode 100644 index 0000000000000000000000000000000000000000..b2fdcd8e665542547626c3d74529f41f12b2fbad --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000065.json @@ -0,0 +1,39 @@ +{ + "episode_index": 65, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the open-top tabletrashbin and pour the balls out.", + "num_frames": 176, + "subtasks": [ + { + 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b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000066.json new file mode 100644 index 0000000000000000000000000000000000000000..7d1532de926fc07cd1109ba85355ff9808fc94cc --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000066.json @@ -0,0 +1,39 @@ +{ + "episode_index": 66, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the light gray waste container using the arm, pour balls.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000067.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000067.json new file mode 100644 index 0000000000000000000000000000000000000000..a1694d0b4c4c69ed6ad845afad0c165c7f9b445e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000067.json @@ -0,0 +1,39 @@ +{ + "episode_index": 67, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the smooth plastic tabletrashbin and dump the balls.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000068.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000068.json new file mode 100644 index 0000000000000000000000000000000000000000..57de464b474f80fd1f53476d7123ffa381b106b6 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000068.json @@ -0,0 +1,53 @@ +{ + "episode_index": 68, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab and tilt the white round tabletrashbin to empty the balls.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 134, + "arm": "right", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000069.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000069.json new file mode 100644 index 0000000000000000000000000000000000000000..82bcac0e21561c0342a76087f737c49a30ac11ec --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000069.json @@ -0,0 +1,39 @@ +{ + "episode_index": 69, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the simple tabletop trashbin and pour all balls into bin", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000070.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000070.json new file mode 100644 index 0000000000000000000000000000000000000000..fb1df6d05e829956fcf2112ba9c67c93ea5989cd --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000070.json @@ -0,0 +1,39 @@ +{ + "episode_index": 70, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the gray plastic trashbin, then pour the balls.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + 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file mode 100644 index 0000000000000000000000000000000000000000..31a14bd39687a39a2fcad4659df9703c74d10565 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000071.json @@ -0,0 +1,39 @@ +{ + "episode_index": 71, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the tabletrashbin, dump balls in big bin", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000072.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000072.json new file mode 100644 index 0000000000000000000000000000000000000000..1716d33a59514ca2feaa664e7c3538d4ebf27d59 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000072.json @@ -0,0 +1,53 @@ +{ + "episode_index": 72, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the white round tabletrashbin and empty its contents.", + "num_frames": 325, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 324, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 211, + "arm": "left", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000073.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000073.json new file mode 100644 index 0000000000000000000000000000000000000000..48d3b9426fccdbcce567b0a7160d731878e39292 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000073.json @@ -0,0 +1,53 @@ +{ + "episode_index": 73, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to empty the plastic tabletrashbin with dark pattern into the bin.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 340, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000074.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000074.json new file mode 100644 index 0000000000000000000000000000000000000000..23f49cfa741fccc0a15459d7272367e534ec4e77 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000074.json @@ -0,0 +1,53 @@ +{ + "episode_index": 74, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the cylindrical small white trashbin, pour contents.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 326, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": 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"dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to grab the cylindrical tabletrashbin with flared rim, dump contents", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000076.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000076.json new file mode 100644 index 0000000000000000000000000000000000000000..890736a4e6c981eea1aa945b0adb78beb868ab92 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000076.json @@ -0,0 +1,53 @@ +{ + "episode_index": 76, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the compact bin with rounded edges and transfer balls.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 340, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 220, + "arm": "left", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000077.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000077.json new file mode 100644 index 0000000000000000000000000000000000000000..aef366c1ca52b2549a3deb36aa21f0be828de26c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000077.json @@ -0,0 +1,53 @@ +{ + "episode_index": 77, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the tabletrashbin with yellow symbol with arm and pour contents", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 220, + "arm": "left", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000078.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000078.json new file mode 100644 index 0000000000000000000000000000000000000000..44e9a4023b5aa52e98aa0c26d7f70bd14d127607 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000078.json @@ -0,0 +1,39 @@ +{ + "episode_index": 78, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to lift the desk-sized white tabletrashbin and empty it.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000079.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000079.json new file mode 100644 index 0000000000000000000000000000000000000000..b988edb1f77cf7782ea3398479e92e3ee685b544 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000079.json @@ -0,0 +1,39 @@ +{ + "episode_index": 79, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Move the arm, take the open-top tabletrashbin, and pour.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000080.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000080.json new file mode 100644 index 0000000000000000000000000000000000000000..6b3e81000b42154b393d35c0d3dcc6abe8c6dfaf --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000080.json @@ -0,0 +1,53 @@ +{ + "episode_index": 80, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the white cylindrical waste bin and pour it out.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000081.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000081.json new file mode 100644 index 0000000000000000000000000000000000000000..4ec84e9e5b816d511e6652eac0879414a7e1c726 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000081.json @@ -0,0 +1,39 @@ +{ + "episode_index": 81, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the cylindrical small white trashbin and pour all balls into bin", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000082.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000082.json new file mode 100644 index 0000000000000000000000000000000000000000..c1609719f1e18c4f674e43c1db3dd5ea121fc2e7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000082.json @@ -0,0 +1,39 @@ +{ + "episode_index": 82, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the light gray smooth tabletrashbin, pour contents.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000083.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000083.json new file mode 100644 index 0000000000000000000000000000000000000000..f690eedcc145c6ab3eb1ce776735a571e88e05c1 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000083.json @@ -0,0 +1,39 @@ +{ + "episode_index": 83, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the smooth plastic tabletrashbin and pour contents.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000084.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000084.json new file mode 100644 index 0000000000000000000000000000000000000000..0ce82b8560c3bf0810e32cf7aac6c0e2f7bc9364 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000084.json @@ -0,0 +1,39 @@ +{ + "episode_index": 84, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pour balls from the light gray smooth tabletrashbin into the bin.", + "num_frames": 176, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 175, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000085.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000085.json new file mode 100644 index 0000000000000000000000000000000000000000..f55fe1e85b05eed8a8553d892c4442382e06abcf --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000085.json @@ -0,0 +1,39 @@ +{ + "episode_index": 85, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to pick the round gray tabletrashbin, pour in bin", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000086.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000086.json new file mode 100644 index 0000000000000000000000000000000000000000..b47e60ec5db48e1b33f07e2df49c98e6e23209e8 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000086.json @@ -0,0 +1,53 @@ +{ + "episode_index": 86, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the cylindrical tabletrashbin, pour its contents out.", + "num_frames": 323, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 322, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "right", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 211, + "arm": "left", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000087.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000087.json new file mode 100644 index 0000000000000000000000000000000000000000..b93746c5b71d985a923d14162473f6e53cd85edc --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000087.json @@ -0,0 +1,53 @@ +{ + "episode_index": 87, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the compact rectangular tabletrashbin and pour contents down.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000088.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000088.json new file mode 100644 index 0000000000000000000000000000000000000000..ba975deea856611cbd0f5d3a9fe562dcb53a46a7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000088.json @@ -0,0 +1,39 @@ +{ + "episode_index": 88, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the light gray trashbin with open top and dump the balls.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000089.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000089.json new file mode 100644 index 0000000000000000000000000000000000000000..3bc772f06908bd9a32baa8967a49b056535e4a56 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000089.json @@ -0,0 +1,53 @@ +{ + "episode_index": 89, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the desk-sized white tabletrashbin, dump balls in big bin", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000090.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000090.json new file mode 100644 index 0000000000000000000000000000000000000000..0b22a0f0a45b4a4d83ebea73a4aac282e1b67f4c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000090.json @@ -0,0 +1,53 @@ +{ + "episode_index": 90, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the light gray cylindrical trashbin and pour into bin.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 212, + "arm": "left", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000091.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000091.json new file mode 100644 index 0000000000000000000000000000000000000000..a5478fdd390d7e2f4f5394fa21deca655ae12f46 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000091.json @@ -0,0 +1,39 @@ +{ + "episode_index": 91, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the light gray tabletrashbin and pour the balls.", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000092.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000092.json new file mode 100644 index 0000000000000000000000000000000000000000..7f035560d439c7314d4d67ddd76e6704453ac017 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000092.json @@ -0,0 +1,39 @@ +{ + "episode_index": 92, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the smooth plastic tabletrashbin, pour contents.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000093.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000093.json new file mode 100644 index 0000000000000000000000000000000000000000..593cb646a6c507d079736a3d05ff9511e2ed569f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000093.json @@ -0,0 +1,39 @@ +{ + "episode_index": 93, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the cylindrical tabletrashbin, pour contents.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000094.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000094.json new file mode 100644 index 0000000000000000000000000000000000000000..844c67d9cedfce1d20d12a03c955106b8446ba46 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000094.json @@ -0,0 +1,53 @@ +{ + "episode_index": 94, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the desk-sized white tabletrashbin and empty its contents.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000095.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000095.json new file mode 100644 index 0000000000000000000000000000000000000000..7dbdf6c613682034df184d35e6d2424e6cd0225b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000095.json @@ -0,0 +1,53 @@ +{ + "episode_index": 95, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grasp the rectangular tabletop waste container and empty it out.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": 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"dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the small rectangular tabletrashbin using the arm, pour balls.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000097.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000097.json new file mode 100644 index 0000000000000000000000000000000000000000..4a826d74b45896529b74da540b4153ff2a667d12 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000097.json @@ -0,0 +1,53 @@ +{ + "episode_index": 97, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the open-top tabletrashbin and pour all balls into bin", + "num_frames": 342, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 341, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 135, + "arm": "right", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + }, + { + "frame": 224, + "arm": "left", + "kind": "close", + "start_frame": 217, + "end_frame": 231 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000098.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000098.json new file mode 100644 index 0000000000000000000000000000000000000000..c1255b373d5a2c7c9ab1a622473d0978343da67e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000098.json @@ -0,0 +1,53 @@ +{ + "episode_index": 98, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the compact rectangular tabletrashbin and dump its balls.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 338, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": 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"scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000100.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000100.json new file mode 100644 index 0000000000000000000000000000000000000000..5f981046d3db3eda0261d8cdd2b3b519840f47d0 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000100.json @@ -0,0 +1,39 @@ +{ + "episode_index": 100, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the mini white trashbin for desk and pour the balls.", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the 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0000000000000000000000000000000000000000..747cb0bc56b25153466475b283d15e8ae8202abb --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000101.json @@ -0,0 +1,53 @@ +{ + "episode_index": 101, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the tabletrashbin with black specks and pour into bin.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": 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"dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Control the arm to raise the tabletrashbin and pour.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000103.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000103.json new file mode 100644 index 0000000000000000000000000000000000000000..e1231064abb4485f745c5968fe53190220869cf3 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000103.json @@ -0,0 +1,39 @@ +{ + "episode_index": 103, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the tabletrashbin with tapered sides and empty it into the bin.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 51, + "arm": "left", + "kind": "close", + "start_frame": 44, + "end_frame": 58 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000104.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000104.json new file mode 100644 index 0000000000000000000000000000000000000000..7b0136f25cd3818bacd28713abebbc0c14a677cb --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000104.json @@ -0,0 +1,39 @@ +{ + "episode_index": 104, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the light gray bucket-shaped waste bin and pour.", + "num_frames": 175, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 174, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000105.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000105.json new file mode 100644 index 0000000000000000000000000000000000000000..d8474097a6c4f45482c54e3f6de2010ed4c2e6d4 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000105.json @@ -0,0 +1,53 @@ +{ + "episode_index": 105, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to grab the open-top tabletrashbin and pour.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 212, + "arm": "left", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000106.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000106.json new file mode 100644 index 0000000000000000000000000000000000000000..09d10844c117becfdd6bf94fe7c7b5ddb1c38c71 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000106.json @@ -0,0 +1,39 @@ +{ + "episode_index": 106, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the light gray tabletrashbin, dump balls in big bin", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000107.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000107.json new file mode 100644 index 0000000000000000000000000000000000000000..c8a34c3ad03a2c87ed7cd20c1591f637d4d9083e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000107.json @@ -0,0 +1,39 @@ +{ + "episode_index": 107, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift up the compact tabletop trashbin, then pour balls.", + "num_frames": 166, + "subtasks": [ + { + 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b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000108.json new file mode 100644 index 0000000000000000000000000000000000000000..c69e8dc0d5d6577c13e4ed897b60a323e7750083 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000108.json @@ -0,0 +1,39 @@ +{ + "episode_index": 108, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the cylindrical small white trashbin and empty balls into the bin.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000109.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000109.json new file mode 100644 index 0000000000000000000000000000000000000000..28dca07e9fa39541691266e5399afa214345e740 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000109.json @@ -0,0 +1,39 @@ +{ + "episode_index": 109, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the cylindrical small white trashbin to pour the balls out.", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000110.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000110.json new file mode 100644 index 0000000000000000000000000000000000000000..02cd6fa6a872a8d3771b15b339504dc2059c17c5 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000110.json @@ -0,0 +1,39 @@ +{ + "episode_index": 110, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the tabletrashbin, pour into the big bin.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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index 0000000000000000000000000000000000000000..177d4bf863bf762d52d5a886ffaa61f593906751 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000113.json @@ -0,0 +1,39 @@ +{ + "episode_index": 113, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the bucket-shaped gray trashbin and dump its balls.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": 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a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000115.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000115.json new file mode 100644 index 0000000000000000000000000000000000000000..9204536c3ec8ff1f03380f201aba38d1458ca546 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000115.json @@ -0,0 +1,39 @@ +{ + "episode_index": 115, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the mini white trashbin for desk, pour contents.", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000116.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000116.json new file mode 100644 index 0000000000000000000000000000000000000000..3e5c637c3655d65a6b5d5cd212c8799cac5a94bf --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000116.json @@ -0,0 +1,39 @@ +{ + "episode_index": 116, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the simple white plastic trashbin, pour its contents out.", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000117.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000117.json new file mode 100644 index 0000000000000000000000000000000000000000..a6cc0f704331ce4025e355ce9385385596773326 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000117.json @@ -0,0 +1,53 @@ +{ + "episode_index": 117, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the open-top tabletrashbin and pour.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 340, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 134, + "arm": "right", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + }, + { + "frame": 223, + "arm": "left", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000118.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000118.json new file mode 100644 index 0000000000000000000000000000000000000000..d3d7d8de4daa5d2314dfc0f5a64d804573ccd78e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000118.json @@ -0,0 +1,53 @@ +{ + "episode_index": 118, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the light gray tabletrashbin with arm and pour contents", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + 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"dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to lift the small rectangular bin for waste and empty it.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000120.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000120.json new file mode 100644 index 0000000000000000000000000000000000000000..99d29c14faba02e4f74d836a48828c78490797db --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000120.json @@ -0,0 +1,39 @@ +{ + "episode_index": 120, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the gray tabletrashbin, pour its contents out.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000121.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000121.json new file mode 100644 index 0000000000000000000000000000000000000000..c7ce386fb4a057832b4c0bcddb7804737890939c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000121.json @@ -0,0 +1,53 @@ +{ + "episode_index": 121, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift up the light gray smooth tabletrashbin, then pour balls.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 326, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "right", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000122.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000122.json new file mode 100644 index 0000000000000000000000000000000000000000..49ac6d20487c1b10c0ec4b43dade42f2381a669f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000122.json @@ -0,0 +1,39 @@ +{ + "episode_index": 122, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pour balls from the lightweight trash container into the bin.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour 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a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000125.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000125.json new file mode 100644 index 0000000000000000000000000000000000000000..a296e4e817fae95e798daccaf4d5613a64035767 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000125.json @@ -0,0 +1,39 @@ +{ + "episode_index": 125, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the light gray bucket-shaped waste bin, pour the balls into big bin", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + 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b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000128.json new file mode 100644 index 0000000000000000000000000000000000000000..e8fb89b6f79a922bb4d5396b8a08b85629f9f4e2 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000128.json @@ -0,0 +1,53 @@ +{ + "episode_index": 128, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the desk-sized white tabletrashbin and pour it out.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 333, + "boundary_source": "episode_end", + "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/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000129.json @@ -0,0 +1,39 @@ +{ + "episode_index": 129, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the lightweight trash container using the arm to pour balls.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": 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a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000136.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000136.json new file mode 100644 index 0000000000000000000000000000000000000000..3dd029ffe1ef9e991aa1462bcc2ebe82cbe85b3b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000136.json @@ -0,0 +1,39 @@ +{ + "episode_index": 136, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the small white trashbin using the arm, pour balls.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000139.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000139.json new file mode 100644 index 0000000000000000000000000000000000000000..db9926ee7973dd7876ede15e7c04b1c764b3e48b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000139.json @@ -0,0 +1,53 @@ +{ + "episode_index": 139, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the small tabletop trashbin and empty its contents.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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--git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000142.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000142.json new file mode 100644 index 0000000000000000000000000000000000000000..e3f46179cf75cacd5c566e79439e85540cdf0289 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000142.json @@ -0,0 +1,53 @@ +{ + "episode_index": 142, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the compact tabletop trashbin and pour carefully.", + "num_frames": 326, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 325, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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"scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000145.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000145.json new file mode 100644 index 0000000000000000000000000000000000000000..b888f9b08820e5f5c7c0a599437bed26812fc9cf --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000145.json @@ -0,0 +1,39 @@ +{ + "episode_index": 145, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the cylindrical small white trashbin, empty into the big bin", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents 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0000000000000000000000000000000000000000..e08d0cbef816c82349c261b6cdb22d39c0b28a22 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000146.json @@ -0,0 +1,53 @@ +{ + "episode_index": 146, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Move the arm, take the tabletrashbin, and pour.", + "num_frames": 343, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 342, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 135, + "arm": "right", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + }, + { + "frame": 223, + "arm": "left", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000147.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000147.json new file mode 100644 index 0000000000000000000000000000000000000000..489f6d092f6ddb3a55aec56adc0275a325ff2851 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000147.json @@ -0,0 +1,53 @@ +{ + "episode_index": 147, + "repo": 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a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000149.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000149.json new file mode 100644 index 0000000000000000000000000000000000000000..9dab8afcd195f6e01f099329c473313785d35532 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000149.json @@ -0,0 +1,53 @@ +{ + "episode_index": 149, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the white round tabletrashbin and pour contents down.", + "num_frames": 320, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 319, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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--git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000152.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000152.json new file mode 100644 index 0000000000000000000000000000000000000000..f8c12f3034d4fec96b5c7a3e84e29a28a0b8cbda --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000152.json @@ -0,0 +1,39 @@ +{ + "episode_index": 152, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the bucket-shaped gray trashbin and pour the balls out.", + "num_frames": 175, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 174, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000155.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000155.json new file mode 100644 index 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file mode 100644 index 0000000000000000000000000000000000000000..9ddc7c071b9130e4d3dd9020dcf6df8aaa5c0888 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000157.json @@ -0,0 +1,39 @@ +{ + "episode_index": 157, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grasp the gray tabletrashbin and empty it out.", + "num_frames": 175, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 174, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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", + 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b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000159.json new file mode 100644 index 0000000000000000000000000000000000000000..8ce70d78f086c2351575510d0d71491e88fe56d6 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000159.json @@ -0,0 +1,39 @@ +{ + "episode_index": 159, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift up the tabletrashbin for holding waste, then pour balls.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + 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a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000161.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000161.json new file mode 100644 index 0000000000000000000000000000000000000000..a442542b8ea61456cb5434d51968b13383f9d5d3 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000161.json @@ -0,0 +1,53 @@ +{ + "episode_index": 161, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to grab the light gray tabletrashbin, dump contents", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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"kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000163.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000163.json new file mode 100644 index 0000000000000000000000000000000000000000..704c1e9f9219db2f0143182ee2f02ba2eef80f49 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000163.json @@ -0,0 +1,53 @@ +{ + "episode_index": 163, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the light gray waste container and pour the balls out.", + "num_frames": 334, + "subtasks": [ + { + 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--git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000164.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000164.json new file mode 100644 index 0000000000000000000000000000000000000000..d0a8370ad918c556250e95087bde7525192fcfb7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000164.json @@ -0,0 +1,39 @@ +{ + "episode_index": 164, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the light gray tabletrashbin and empty it into the bin.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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"episode_index": 165, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the tabletrashbin with slightly flared top and pour the balls.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000166.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000166.json new file mode 100644 index 0000000000000000000000000000000000000000..bf53c49a8abc71724796d14352aabe2575835193 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000166.json @@ -0,0 +1,39 @@ +{ + "episode_index": 166, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the simple tabletop trashbin and pour the balls.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000167.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000167.json new file mode 100644 index 0000000000000000000000000000000000000000..b977039ffec3269e55ef2554f6178c4995e14a1d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000167.json @@ -0,0 +1,39 @@ +{ + "episode_index": 167, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the light gray cylindrical trashbin to pour the balls out.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": 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"subtask_type": "semantic", + "start_frame": 0, + "end_frame": 321, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000169.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000169.json new file mode 100644 index 0000000000000000000000000000000000000000..1c4c799dc00f9488cd68724af34ea6269efd9cee --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000169.json @@ -0,0 +1,39 @@ +{ + "episode_index": 169, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the light gray tabletrashbin and transfer balls to the bin.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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"episode_index": 170, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the white round tabletrashbin and dump the balls.", + "num_frames": 155, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 154, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000171.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000171.json new file mode 100644 index 0000000000000000000000000000000000000000..0f200e01b11ca0e6184e07ab310bbb3433ab5141 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000171.json @@ -0,0 +1,53 @@ +{ + "episode_index": 171, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the plastic tabletrashbin with dark pattern, then pour the balls.", + "num_frames": 344, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 343, + "boundary_source": "episode_end", + "truncation_rule": 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b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000172.json new file mode 100644 index 0000000000000000000000000000000000000000..a635f30d56250d0002cb1ab302573cb74206d1c4 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000172.json @@ -0,0 +1,53 @@ +{ + "episode_index": 172, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the cylindrical tabletrashbin with flared rim and pour its contents into bin.", + "num_frames": 320, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 319, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 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b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000173.json @@ -0,0 +1,53 @@ +{ + "episode_index": 173, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the small tabletrashbin, pour contents.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 326, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + 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"source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000175.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000175.json new file mode 100644 index 0000000000000000000000000000000000000000..a763f4e0e7812d95aa407a41fd20e2986586abe2 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000175.json @@ -0,0 +1,39 @@ +{ + "episode_index": 175, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the tabletrashbin for holding waste, pour into the big bin.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000176.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000176.json new file mode 100644 index 0000000000000000000000000000000000000000..4f82a1f14e9d3e21649acda1494fa4b0ce6bb03e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000176.json @@ -0,0 +1,39 @@ +{ + "episode_index": 176, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the open-top tabletrashbin with arm and pour contents", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000177.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000177.json new file mode 100644 index 0000000000000000000000000000000000000000..f4eb7018e4e1c2e1a9bab59526e707a2ca133638 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000177.json @@ -0,0 +1,53 @@ +{ + "episode_index": 177, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the light gray cylindrical trashbin and pour the balls.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000178.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000178.json new file mode 100644 index 0000000000000000000000000000000000000000..022224161c0cec5acf65900361d4c5106b674ff2 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000178.json @@ -0,0 +1,39 @@ +{ + "episode_index": 178, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the light gray cylindrical trashbin and pour carefully.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000179.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000179.json new file mode 100644 index 0000000000000000000000000000000000000000..a1a33b5abb216255e1dc6b39e8dc592cb30133eb --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000179.json @@ -0,0 +1,39 @@ +{ + "episode_index": 179, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the mini white trashbin for desk and pour carefully.", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000180.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000180.json new file mode 100644 index 0000000000000000000000000000000000000000..2b66adfa56c04f55b7b79779181af23a56edc11d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000180.json @@ -0,0 +1,53 @@ +{ + "episode_index": 180, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the dark gray cylindrical tabletrashbin, pour its contents away.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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0000000000000000000000000000000000000000..b56568adb7e2e940534fa6f2c346669388dc439b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000181.json @@ -0,0 +1,39 @@ +{ + "episode_index": 181, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to pick the white bin with flared top edge, pour in bin", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": 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b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000183.json new file mode 100644 index 0000000000000000000000000000000000000000..aab8b45aa497c7cb0b74d867c7b095008c78ace8 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000183.json @@ -0,0 +1,39 @@ +{ + "episode_index": 183, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift up the tabletrashbin made of plastic, then pour balls.", + "num_frames": 158, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 157, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000184.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000184.json new file mode 100644 index 0000000000000000000000000000000000000000..129965e90d898fa8369cf58b8f11b8f6f2126447 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000184.json @@ -0,0 +1,39 @@ +{ + "episode_index": 184, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the open gray tabletrashbin and pour contents down.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000185.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000185.json new file mode 100644 index 0000000000000000000000000000000000000000..144dedf490a884108dfc1cf177b52463909514b7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000185.json @@ -0,0 +1,39 @@ +{ + "episode_index": 185, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the small rectangular bin for waste up, pour all balls inside bin", + "num_frames": 175, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 174, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000187.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000187.json new file mode 100644 index 0000000000000000000000000000000000000000..3c844c0e1780b97c2e4f077fcd86bc32311c9112 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000187.json @@ -0,0 +1,53 @@ +{ + "episode_index": 187, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the cylindrical tabletrashbin with flared rim and pour it out.", + "num_frames": 326, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 325, + "boundary_source": "episode_end", + "truncation_rule": 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b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000188.json new file mode 100644 index 0000000000000000000000000000000000000000..c47822b751048d03a5ac267eb1388e01f0837c1e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000188.json @@ -0,0 +1,53 @@ +{ + "episode_index": 188, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the tabletrashbin and pour.", + "num_frames": 343, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 342, + "boundary_source": "episode_end", + "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/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000189.json @@ -0,0 +1,53 @@ +{ + "episode_index": 189, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift up the light gray smooth tabletrashbin, then pour balls.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 135, + "arm": "right", + "kind": 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a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000191.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000191.json new file mode 100644 index 0000000000000000000000000000000000000000..a008c13bb0681c36fac432bea556d76329e3d40d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000191.json @@ -0,0 +1,39 @@ +{ + "episode_index": 191, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to empty the light gray tabletrashbin into the bin.", + "num_frames": 176, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 175, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000193.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000193.json new file mode 100644 index 0000000000000000000000000000000000000000..c420f5739763b2a3bede14eb0379bf54119b77b6 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000193.json @@ -0,0 +1,53 @@ +{ + "episode_index": 193, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the tabletrashbin with black specks and dump the balls.", + "num_frames": 347, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 346, + "boundary_source": "episode_end", + "truncation_rule": 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b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000194.json new file mode 100644 index 0000000000000000000000000000000000000000..89b85747991cc372212bc99302e6131a1065061c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000194.json @@ -0,0 +1,53 @@ +{ + "episode_index": 194, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the smooth plastic tabletrashbin and empty its contents.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + 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b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000195.json @@ -0,0 +1,39 @@ +{ + "episode_index": 195, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the simple white plastic trashbin and pour the balls.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": 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a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000197.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000197.json new file mode 100644 index 0000000000000000000000000000000000000000..55d45b00a15fd082eaa4e9772e234c7d1ebfbc8c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000197.json @@ -0,0 +1,53 @@ +{ + "episode_index": 197, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to empty the desk-sized white tabletrashbin into the bin.", + "num_frames": 319, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 318, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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0000000000000000000000000000000000000000..0ee016ef8f5e4dfd69a522483276a52759a3f958 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000198.json @@ -0,0 +1,39 @@ +{ + "episode_index": 198, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the white bin with flared top edge, pour the balls into big bin", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": 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--git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000200.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000200.json new file mode 100644 index 0000000000000000000000000000000000000000..3a4c2e1c4795ee2060accfc3d07576928c21c79c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000200.json @@ -0,0 +1,53 @@ +{ + "episode_index": 200, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Raise the cylindrical small white trashbin to dump its contents out.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "right", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 134, + "arm": "right", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000201.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000201.json new file mode 100644 index 0000000000000000000000000000000000000000..bbee53a648da9c0ad70ef8ab69436b732599c0df --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000201.json @@ -0,0 +1,39 @@ +{ + "episode_index": 201, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the smooth plastic tabletrashbin using the arm, pour balls.", + "num_frames": 158, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 157, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": 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a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000203.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000203.json new file mode 100644 index 0000000000000000000000000000000000000000..9c14d18c347b2a395a536ca1d5c94bc528aa8095 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000203.json @@ -0,0 +1,53 @@ +{ + "episode_index": 203, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the desk-sized white tabletrashbin to pour the balls out.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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0000000000000000000000000000000000000000..520e3b0ccb868227ce58fb8494b8b5a5e1f866fa --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000204.json @@ -0,0 +1,39 @@ +{ + "episode_index": 204, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the small container with yellow logo using the arm, pour balls.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000205.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000205.json new file mode 100644 index 0000000000000000000000000000000000000000..a08070771cbcbaeb3938295fd1eb0f85a7c1e60e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000205.json @@ -0,0 +1,53 @@ +{ + "episode_index": 205, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the simple tabletop trashbin and pour the balls.", + "num_frames": 336, + "subtasks": [ + { + 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--git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000206.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000206.json new file mode 100644 index 0000000000000000000000000000000000000000..5ceedc7f30d01ba23e1b67b46af0bc6f66400229 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000206.json @@ -0,0 +1,39 @@ +{ + "episode_index": 206, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to pick the small tabletop trashbin, pour in bin", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000207.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000207.json new file mode 100644 index 0000000000000000000000000000000000000000..f882715b072524e300d77f1c0286f0644c75ac35 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000207.json @@ -0,0 +1,39 @@ +{ + "episode_index": 207, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the minimalist gray tabletrashbin, pour the balls into big bin", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000208.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000208.json new file mode 100644 index 0000000000000000000000000000000000000000..66633b14802824102275fd6050c6bd0df992214e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000208.json @@ -0,0 +1,39 @@ +{ + "episode_index": 208, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the small tabletop trashbin and dump its balls.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000209.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000209.json new file mode 100644 index 0000000000000000000000000000000000000000..620bfc98b793c737d2c545bba1147ef30b830546 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000209.json @@ -0,0 +1,39 @@ +{ + "episode_index": 209, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Raise the light gray tabletrashbin to dump its contents out.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": 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a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000211.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000211.json new file mode 100644 index 0000000000000000000000000000000000000000..5b924b2d9262139bc689081fc0133c70c189811e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000211.json @@ -0,0 +1,53 @@ +{ + "episode_index": 211, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to empty the simple tabletop trashbin into the bin.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000214.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000214.json new file mode 100644 index 0000000000000000000000000000000000000000..36d31680ae253344e4afc7d79c2ac78fd8af52d9 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000214.json @@ -0,0 +1,39 @@ +{ + "episode_index": 214, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the tabletrashbin, then pour balls into the bin.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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"2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000216.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000216.json new file mode 100644 index 0000000000000000000000000000000000000000..149ed1afe59e93d6d2040ddf19f9304fd969ebc7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000216.json @@ -0,0 +1,53 @@ +{ + "episode_index": 216, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the light gray tabletrashbin and pour contents.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 326, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000217.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000217.json new file mode 100644 index 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b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000219.json new file mode 100644 index 0000000000000000000000000000000000000000..eca5c0fdf5487ec58987c24a066443b317820888 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000219.json @@ -0,0 +1,53 @@ +{ + "episode_index": 219, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the small white trashbin and pour contents.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 334, + "boundary_source": "episode_end", + "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/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000220.json @@ -0,0 +1,39 @@ +{ + "episode_index": 220, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the cylindrical tabletrashbin with flared rim and pour into bin.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": 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"subtask_type": "semantic", + "start_frame": 0, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000222.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000222.json new file mode 100644 index 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a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000224.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000224.json new file mode 100644 index 0000000000000000000000000000000000000000..8ece8f0fe3233d8f868984a4712686c2dd5aed94 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000224.json @@ -0,0 +1,39 @@ +{ + "episode_index": 224, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the white cylindrical waste bin, then pour balls into the bin.", + "num_frames": 162, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 161, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000227.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000227.json new file mode 100644 index 0000000000000000000000000000000000000000..0e88e93bf5f8ad3d345552f7432b993ee0554425 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000227.json @@ -0,0 +1,53 @@ +{ + "episode_index": 227, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the tabletrashbin with yellow symbol and transfer balls to the bin.", + "num_frames": 347, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 346, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 135, + "arm": "right", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + }, + { + "frame": 227, + "arm": "left", + "kind": "close", + "start_frame": 220, + "end_frame": 234 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000228.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000228.json new file mode 100644 index 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"scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000230.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000230.json new file mode 100644 index 0000000000000000000000000000000000000000..e50df34e358ebaa2309895b818286af56c719a1f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000230.json @@ -0,0 +1,53 @@ +{ + "episode_index": 230, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the small tabletrashbin, pour its contents out.", + "num_frames": 320, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 319, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "left", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000231.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000231.json new file mode 100644 index 0000000000000000000000000000000000000000..2f7cc5db133031d61f3410a22abaf7d6b9e9a675 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000231.json @@ -0,0 +1,53 @@ +{ + "episode_index": 231, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the cylindrical tabletrashbin with flared rim, then pour the balls.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000232.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000232.json new file mode 100644 index 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"start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000236.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000236.json new file mode 100644 index 0000000000000000000000000000000000000000..ce85b9b430073000be404db8466dc0db0e05241a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000236.json @@ -0,0 +1,39 @@ +{ + "episode_index": 236, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the small tabletop trashbin with arm and pour contents", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + 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file mode 100644 index 0000000000000000000000000000000000000000..2395090b0f2c7441d6576b3d18fafbb0776908c2 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000237.json @@ -0,0 +1,53 @@ +{ + "episode_index": 237, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the lightweight trash container and dump the balls.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 123, + "arm": "right", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000238.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000238.json new file mode 100644 index 0000000000000000000000000000000000000000..efeaa87b2443586175d1ea484109231d6e885247 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000238.json @@ -0,0 +1,39 @@ +{ + "episode_index": 238, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the tabletrashbin with grooves on sides and pour.", + "num_frames": 175, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 174, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000239.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000239.json new file mode 100644 index 0000000000000000000000000000000000000000..2d0d02e7184c347464c0ec4aecec9f22a922b1df --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000239.json @@ -0,0 +1,39 @@ +{ + "episode_index": 239, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the tabletrashbin with smooth grooves, pour its contents away.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000240.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000240.json new file mode 100644 index 0000000000000000000000000000000000000000..7e81bc7e5fdaa14158bfdba49133841b6b61e0a9 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000240.json @@ -0,0 +1,53 @@ +{ + "episode_index": 240, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the small rectangular bin for waste, pour its contents out.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 340, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 131, + "arm": "right", + "kind": 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cylindrical tabletrashbin with flared rim, pour into the big bin.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000242.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000242.json new file mode 100644 index 0000000000000000000000000000000000000000..0212da3debdabe8da8d0802667dd20b738971d8e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000242.json @@ -0,0 +1,39 @@ +{ + "episode_index": 242, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the small white trashbin, then pour balls into the bin.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000243.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000243.json new file mode 100644 index 0000000000000000000000000000000000000000..2cccc89309159076303a2c73b0dc742554d634fd --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000243.json @@ -0,0 +1,53 @@ +{ + "episode_index": 243, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the cylindrical tabletrashbin with flared rim, pour its contents out.", + "num_frames": 319, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 318, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "left", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000244.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000244.json new file mode 100644 index 0000000000000000000000000000000000000000..074e4985b7f806a2d092579fee0119792998f28d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000244.json @@ -0,0 +1,39 @@ +{ + "episode_index": 244, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the dark gray cylindrical tabletrashbin and dump the balls.", + "num_frames": 165, + "subtasks": [ + { + 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b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000245.json new file mode 100644 index 0000000000000000000000000000000000000000..5a502580da52b9c002cab65e484afbe27c7a1bc0 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000245.json @@ -0,0 +1,39 @@ +{ + "episode_index": 245, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the tabletrashbin to pour the balls out.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000246.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000246.json new file mode 100644 index 0000000000000000000000000000000000000000..e870a771b79ae224f0cb0e9038beb572656a584e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000246.json @@ -0,0 +1,39 @@ +{ + "episode_index": 246, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the 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a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000247.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000247.json new file mode 100644 index 0000000000000000000000000000000000000000..8dc1482f882bd48032b107385439a8190ecdf494 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000247.json @@ -0,0 +1,39 @@ +{ + "episode_index": 247, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Raise the compact tabletop trashbin to dump its contents out.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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"episode_index": 248, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the white cylindrical waste bin and empty balls into the bin.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000249.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000249.json new file mode 100644 index 0000000000000000000000000000000000000000..2c2238004768b51f16b4cc478d6418c963e73380 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000249.json @@ -0,0 +1,53 @@ +{ + "episode_index": 249, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Direct the arm to grab the open gray tabletrashbin and tilt.", + "num_frames": 342, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 341, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 134, + "arm": "right", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + }, + { + "frame": 222, + "arm": "left", + "kind": "close", + "start_frame": 215, + "end_frame": 229 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000250.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000250.json new file mode 100644 index 0000000000000000000000000000000000000000..649fd0d2170916d8d7c837421490fca4b7b2a25f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000250.json @@ -0,0 +1,39 @@ +{ + "episode_index": 250, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the dark gray cylindrical tabletrashbin using arm, pour contents inside", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000251.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000251.json new file mode 100644 index 0000000000000000000000000000000000000000..be4cc4de887827f438a0f21aa6bfe3c806daf91e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000251.json @@ -0,0 +1,53 @@ +{ + "episode_index": 251, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the white round tabletrashbin and pour.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000252.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000252.json new file mode 100644 index 0000000000000000000000000000000000000000..ce074be336660486c0b28c6df0f17a450e4fb07d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000252.json @@ -0,0 +1,39 @@ +{ + "episode_index": 252, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the tabletrashbin with smooth grooves, then pour the balls.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000253.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000253.json new file mode 100644 index 0000000000000000000000000000000000000000..0774b99c0549a04037a91e71678a06f804e9e19e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000253.json @@ -0,0 +1,39 @@ +{ + "episode_index": 253, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the tabletrashbin with yellow symbol, then pour the balls.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000254.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000254.json new file mode 100644 index 0000000000000000000000000000000000000000..16226edd3393a0d29bb35cbaacaa080b8ba29c75 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000254.json @@ -0,0 +1,53 @@ +{ + "episode_index": 254, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the tabletrashbin with grooves on sides, pour into the big bin.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000255.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000255.json new file mode 100644 index 0000000000000000000000000000000000000000..05bdedbb0c35f89470f7ecb1555bf720e33dd16f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000255.json @@ -0,0 +1,53 @@ +{ + "episode_index": 255, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab and tilt the light gray cylindrical trashbin to empty the balls.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000256.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000256.json new file mode 100644 index 0000000000000000000000000000000000000000..b9bcb60aba226101d95ab71a346aa966128b7261 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000256.json @@ -0,0 +1,53 @@ +{ + "episode_index": 256, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the smooth plastic tabletrashbin, pour contents.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 125, + "arm": "right", + "kind": 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black-specked gray tabletrashbin, then pour contents.", + "num_frames": 349, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 348, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 66, + "arm": "right", + "kind": "close", + "start_frame": 59, + "end_frame": 73 + }, + { + "frame": 143, + "arm": "right", + "kind": "open", + "start_frame": 136, + "end_frame": 150 + }, + { + "frame": 230, + "arm": "left", + "kind": "close", + "start_frame": 223, + "end_frame": 237 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000258.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000258.json new file mode 100644 index 0000000000000000000000000000000000000000..7938372edb1b34e601d336a1b951db85eb2ef20f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000258.json @@ -0,0 +1,39 @@ +{ + "episode_index": 258, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the smooth plastic tabletrashbin with arm and pour contents", + "num_frames": 178, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 177, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000259.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000259.json new file mode 100644 index 0000000000000000000000000000000000000000..799e02c20ca1100b6e19b78d550ed660600de5db --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000259.json @@ -0,0 +1,53 @@ +{ + "episode_index": 259, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the cylindrical tabletrashbin, then pour the balls.", + "num_frames": 321, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 320, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 121, + "arm": "right", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 208, + "arm": "left", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000260.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000260.json new file mode 100644 index 0000000000000000000000000000000000000000..bb7c947e4e28df80d5fee9f6e2ce6098f76386a1 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000260.json @@ -0,0 +1,53 @@ +{ + "episode_index": 260, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to pick the mini 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"source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000261.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000261.json new file mode 100644 index 0000000000000000000000000000000000000000..07abeb10295bc774a41f5eabb99f694fcc21702d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000261.json @@ -0,0 +1,53 @@ +{ + "episode_index": 261, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the small white trashbin, pour the balls into big bin", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "right", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + }, + { + "frame": 125, + "arm": "right", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 212, + "arm": "left", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000262.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000262.json new file mode 100644 index 0000000000000000000000000000000000000000..c98e38d9650547771f2936fa86611f546eb026ad --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000262.json @@ -0,0 +1,39 @@ +{ + "episode_index": 262, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the tabletrashbin for holding waste and empty balls into the bin.", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000263.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000263.json new file mode 100644 index 0000000000000000000000000000000000000000..88b680a5cb1cca5f1c7d2471c33fe7b87be0bab2 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000263.json @@ -0,0 +1,39 @@ +{ + "episode_index": 263, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Move the arm, take the cylindrical tabletrashbin with flared rim, and pour.", + "num_frames": 161, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 160, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000264.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000264.json new file mode 100644 index 0000000000000000000000000000000000000000..8c540e0477805808ec1555e345233a5c21ef5faa --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000264.json @@ -0,0 +1,53 @@ +{ + "episode_index": 264, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the light gray trashbin with open top and dump its balls.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000265.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000265.json new file mode 100644 index 0000000000000000000000000000000000000000..1add118cf41bd676ee2d5335ce057a77cc664c13 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000265.json @@ -0,0 +1,53 @@ +{ + "episode_index": 265, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the compact bin with rounded edges with arm and pour contents", + "num_frames": 346, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 345, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 223, + "arm": "left", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000266.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000266.json new file mode 100644 index 0000000000000000000000000000000000000000..c9f0437d1efdcea91c7693f00cae281374d59c8d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000266.json @@ -0,0 +1,39 @@ +{ + "episode_index": 266, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to grab the compact tabletop trashbin and pour.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000267.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000267.json new file mode 100644 index 0000000000000000000000000000000000000000..044fd8ce9b32be4f940753a120b58bf3aa52a1e4 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000267.json @@ -0,0 +1,39 @@ +{ + "episode_index": 267, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the cylindrical small white trashbin, pour the balls into big bin", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000268.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000268.json new file mode 100644 index 0000000000000000000000000000000000000000..d6c0ab2330ce5a5907f7c3c933fb9e3655a2097e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000268.json @@ -0,0 +1,53 @@ +{ + "episode_index": 268, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the white bin with flared top edge and pour its contents into bin.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000269.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000269.json new file mode 100644 index 0000000000000000000000000000000000000000..f93f09e2041f081b603390986b72faa769e32e82 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000269.json @@ -0,0 +1,53 @@ +{ + "episode_index": 269, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the light gray tabletrashbin and pour it out.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 135, + "arm": "right", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + }, + { + "frame": 223, + "arm": "left", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000270.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000270.json new file mode 100644 index 0000000000000000000000000000000000000000..55586c80ca7971465e196d085c4cf51f0817c03b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000270.json @@ -0,0 +1,39 @@ +{ + "episode_index": 270, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the small white trashbin with arm and pour contents", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000271.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000271.json new file mode 100644 index 0000000000000000000000000000000000000000..460e6f912dd583083679a6ad4cdd40214f7abfc5 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000271.json @@ -0,0 +1,39 @@ +{ + "episode_index": 271, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to lift the minimalist gray tabletrashbin and empty it.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000272.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000272.json new file mode 100644 index 0000000000000000000000000000000000000000..b320a596763f3114af043deaa3b232e5cbbda719 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000272.json @@ -0,0 +1,39 @@ +{ + "episode_index": 272, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the cylindrical tabletrashbin with flared rim, pour the balls into big bin", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": 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b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000273.json @@ -0,0 +1,53 @@ +{ + "episode_index": 273, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the open-top tabletrashbin and pour the balls.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 337, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + 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b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000275.json new file mode 100644 index 0000000000000000000000000000000000000000..66da59ba62bd16bd558c68bf0e82669aa87bc8e6 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000275.json @@ -0,0 +1,53 @@ +{ + "episode_index": 275, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Move the arm, take the tabletrashbin with grooves on sides, and pour.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + 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b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000276.json @@ -0,0 +1,39 @@ +{ + "episode_index": 276, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Move the arm, take the desk-sized white tabletrashbin, and pour.", + "num_frames": 164, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 163, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": 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a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000278.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000278.json new file mode 100644 index 0000000000000000000000000000000000000000..787f73ab98f3d079ec97fe44b3bf4919ec4fa037 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000278.json @@ -0,0 +1,53 @@ +{ + "episode_index": 278, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the tabletrashbin using arm, pour contents inside", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 338, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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0000000000000000000000000000000000000000..459ea1eed6ef52ecfdcd0f021a6b080e73dae7a1 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000279.json @@ -0,0 +1,53 @@ +{ + "episode_index": 279, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the light gray waste container and dump its balls.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000280.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000280.json new file mode 100644 index 0000000000000000000000000000000000000000..75fae23208bc82729418c2e626f2287f3ccc0b38 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000280.json @@ -0,0 +1,39 @@ +{ + "episode_index": 280, + "repo": 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--git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000281.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000281.json new file mode 100644 index 0000000000000000000000000000000000000000..b14b5172de2dc6e21813528b41e84a6153f95ad6 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000281.json @@ -0,0 +1,53 @@ +{ + "episode_index": 281, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the cylindrical tabletrashbin and dump the balls.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000284.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000284.json new file mode 100644 index 0000000000000000000000000000000000000000..775aaf07a0247f4f182f8002aa869ca44cc755e9 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000284.json @@ -0,0 +1,39 @@ +{ + "episode_index": 284, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grasp the open-top tabletrashbin and empty it out.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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"2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000286.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000286.json new file mode 100644 index 0000000000000000000000000000000000000000..6017b1a12ee8fba63512deac14df46e83d76104b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000286.json @@ -0,0 +1,53 @@ +{ + "episode_index": 286, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to lift the light gray smooth tabletrashbin and empty it.", + "num_frames": 325, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 324, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000287.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000287.json new file mode 100644 index 0000000000000000000000000000000000000000..7e48d4048465a03f754c663599063bd70a6d08d3 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000287.json @@ -0,0 +1,53 @@ +{ + "episode_index": 287, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the tabletrashbin using the arm, pour balls.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", 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"dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the tabletrashbin made of plastic, pour its contents away.", + "num_frames": 149, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 148, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000289.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000289.json new file mode 100644 index 0000000000000000000000000000000000000000..248c0a5872474e03fd8f9a84592705e764a8727f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000289.json @@ -0,0 +1,53 @@ +{ + "episode_index": 289, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the plastic tabletrashbin and pour its contents into bin.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000292.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000292.json new file mode 100644 index 0000000000000000000000000000000000000000..dc754fbdd4e2fd9cf06dfedf6dc45406c99d1347 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000292.json @@ -0,0 +1,39 @@ +{ + "episode_index": 292, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the white cylindrical waste bin and pour balls into the bin.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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"end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000294.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000294.json new file mode 100644 index 0000000000000000000000000000000000000000..0d49a0eb326eeb0d905cb344d7cddbf325e6bd67 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000294.json @@ -0,0 +1,53 @@ +{ + "episode_index": 294, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the cylindrical small white trashbin and pour carefully.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour 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a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000295.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000295.json new file mode 100644 index 0000000000000000000000000000000000000000..af0d4573bcf362fad289aeec1176204f84b53edb --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000295.json @@ -0,0 +1,53 @@ +{ + "episode_index": 295, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the tabletrashbin with yellow symbol and empty its contents.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 326, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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"start_frame": 49, + "end_frame": 63 + }, + { + "frame": 134, + "arm": "right", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + }, + { + "frame": 222, + "arm": "left", + "kind": "close", + "start_frame": 215, + "end_frame": 229 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000297.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000297.json new file mode 100644 index 0000000000000000000000000000000000000000..ab80972dd24c0566194040f61a3b54cf3ce56591 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000297.json @@ -0,0 +1,39 @@ +{ + "episode_index": 297, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the gray tabletrashbin and empty balls into the bin.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000298.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000298.json new file mode 100644 index 0000000000000000000000000000000000000000..5c0e7cd8f8707350ef4facc2a96d7b583ad3f9d4 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000298.json @@ -0,0 +1,53 @@ +{ + "episode_index": 298, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grasp the desk-sized white tabletrashbin and empty it out.", + "num_frames": 340, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 339, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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0000000000000000000000000000000000000000..6459cd4f0ddbfcdd9757f70d36af0eba03169f88 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000299.json @@ -0,0 +1,39 @@ +{ + "episode_index": 299, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the white round tabletrashbin and empty balls into the bin.", + "num_frames": 161, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 160, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000300.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000300.json new file mode 100644 index 0000000000000000000000000000000000000000..eceacf2465db4ac9fd30d50fc1b609831a3dc909 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000300.json @@ -0,0 +1,39 @@ +{ + "episode_index": 300, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the smooth plastic tabletrashbin using the arm to pour balls.", + "num_frames": 168, + "subtasks": [ + { + 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b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000301.json new file mode 100644 index 0000000000000000000000000000000000000000..ba7adf89785757414ceabc39c8633a859a372cc1 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000301.json @@ -0,0 +1,53 @@ +{ + "episode_index": 301, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to grab the minimalist gray tabletrashbin and pour.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + 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b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000302.json @@ -0,0 +1,53 @@ +{ + "episode_index": 302, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the small white trashbin and pour all balls into bin", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + 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tabletrashbin with flared rim and transfer balls.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000304.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000304.json new file mode 100644 index 0000000000000000000000000000000000000000..576e329f56106774eb75f26c3337a03eab311622 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000304.json @@ -0,0 +1,39 @@ +{ + "episode_index": 304, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the plastic tabletrashbin and dump its balls.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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"episode_index": 305, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the small container with yellow logo and pour balls into the bin.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 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--git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000309.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000309.json new file mode 100644 index 0000000000000000000000000000000000000000..cb46e903175a03f496db2cc2ae0d92f23668676e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000309.json @@ -0,0 +1,53 @@ +{ + "episode_index": 309, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the small rectangular bin for waste and pour balls into the bin.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 340, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 223, + "arm": "left", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000310.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000310.json new file mode 100644 index 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"kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000311.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000311.json new file mode 100644 index 0000000000000000000000000000000000000000..99ce96bb55c92f4b068e52c05dab6fdbd496a5b7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000311.json @@ -0,0 +1,39 @@ +{ + "episode_index": 311, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the smooth plastic tabletrashbin using arm, pour contents inside", + "num_frames": 170, + "subtasks": [ + { + 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b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000312.json new file mode 100644 index 0000000000000000000000000000000000000000..f2654a02007559642176e2cb602b6cf4d7d83c49 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000312.json @@ -0,0 +1,39 @@ +{ + "episode_index": 312, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the compact tabletop trashbin and pour its contents into bin.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + 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a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000314.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000314.json new file mode 100644 index 0000000000000000000000000000000000000000..3b4aec3a1ac0eeeec842b8a733f03f7de7844a08 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000314.json @@ -0,0 +1,53 @@ +{ + "episode_index": 314, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grasp the open-top tabletrashbin and empty it out.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000317.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000317.json new file mode 100644 index 0000000000000000000000000000000000000000..05d08647f3c114d77bcd032b62e166e7ebe247a8 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000317.json @@ -0,0 +1,39 @@ +{ + "episode_index": 317, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the gray plastic trashbin and pour balls into the bin.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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"end_frame": 230 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000319.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000319.json new file mode 100644 index 0000000000000000000000000000000000000000..95fa3966f335769f61e55f709df29db1496d216b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000319.json @@ -0,0 +1,39 @@ +{ + "episode_index": 319, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the open-top tabletrashbin, empty into the big bin", + "num_frames": 164, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the 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0000000000000000000000000000000000000000..232a0311fb93af8a9e08059a2cb01ae4658919af --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000320.json @@ -0,0 +1,39 @@ +{ + "episode_index": 320, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the smooth plastic tabletrashbin up, pour all balls inside bin", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": 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a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000322.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000322.json new file mode 100644 index 0000000000000000000000000000000000000000..308b0625e8acbccefc5d7d658cde975af6b32039 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000322.json @@ -0,0 +1,39 @@ +{ + "episode_index": 322, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to pick the open gray tabletrashbin, pour in bin", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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"episode_index": 323, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Control the arm to raise the small rectangular bin for waste and pour.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000324.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000324.json new file mode 100644 index 0000000000000000000000000000000000000000..fd7a1e1ed56729dd9d2a215357afe5f119cab6e5 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000324.json @@ -0,0 +1,39 @@ +{ + "episode_index": 324, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the minimalist gray tabletrashbin to pour the balls out.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000325.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000325.json new file mode 100644 index 0000000000000000000000000000000000000000..4f3af18aa59b93d85fd4e9e7d931c71c9f5af6d8 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000325.json @@ -0,0 +1,39 @@ +{ + "episode_index": 325, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the small rectangular bin for waste, pour its contents away.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000326.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000326.json new file mode 100644 index 0000000000000000000000000000000000000000..a184a30baa8ed7ce1cb883b1491d80582a1dedcc --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000326.json @@ -0,0 +1,53 @@ +{ + "episode_index": 326, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the smooth plastic tabletrashbin and pour carefully.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 338, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 219, + "arm": "left", + "kind": "close", + "start_frame": 212, + "end_frame": 226 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000327.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000327.json new file mode 100644 index 0000000000000000000000000000000000000000..2f847c4d8ef0f09b7027c60eb9b675ecb3cd8b58 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000327.json @@ -0,0 +1,39 @@ +{ + "episode_index": 327, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the small white trashbin using the arm to pour balls.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000328.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000328.json new file mode 100644 index 0000000000000000000000000000000000000000..f054dc4bc16e16f955a97a497259cbac3a5c8f4c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000328.json @@ -0,0 +1,39 @@ +{ + "episode_index": 328, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift up the cylindrical tabletrashbin with flared rim, then pour balls.", + "num_frames": 159, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 158, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000329.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000329.json new file mode 100644 index 0000000000000000000000000000000000000000..a10906462c2c511b9a4f9d62bdd23399a20aa4ec --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000329.json @@ -0,0 +1,53 @@ +{ + "episode_index": 329, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the smooth plastic tabletrashbin, pour contents into big bin", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 338, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 220, + "arm": "left", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000330.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000330.json new file mode 100644 index 0000000000000000000000000000000000000000..cda24b094a0968aa1fec5b72f3b8f415f67708ea --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000330.json @@ -0,0 +1,53 @@ +{ + "episode_index": 330, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the rectangular tabletop waste container and pour balls into the bin.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 340, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + 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b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000331.json @@ -0,0 +1,53 @@ +{ + "episode_index": 331, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the white round tabletrashbin to pour the balls out.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000332.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000332.json new file mode 100644 index 0000000000000000000000000000000000000000..c165f386a3e99ce774a913486181995d04b0d006 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000332.json @@ -0,0 +1,39 @@ +{ + "episode_index": 332, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Move the arm, take the simple white plastic trashbin, and pour.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000333.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000333.json new file mode 100644 index 0000000000000000000000000000000000000000..6601ed3e0df07da6102077d30392b8e61cd37090 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000333.json @@ -0,0 +1,53 @@ +{ + "episode_index": 333, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the desk-sized white tabletrashbin, pour its contents away.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000334.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000334.json new file mode 100644 index 0000000000000000000000000000000000000000..4734fe3e4b26c3d29ba2042a22adb162c6f17457 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000334.json @@ -0,0 +1,39 @@ +{ + "episode_index": 334, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Move the arm, take the simple tabletop trashbin, and pour.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000335.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000335.json new file mode 100644 index 0000000000000000000000000000000000000000..80676ea97775d3492dd1dff7b48f3d4ee857c2cf --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000335.json @@ -0,0 +1,39 @@ +{ + "episode_index": 335, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the white bin with flared top edge using arm, pour contents inside", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000336.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000336.json new file mode 100644 index 0000000000000000000000000000000000000000..811a0c52b46cda911a3db0bbabbcdcc1151cc57d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000336.json @@ -0,0 +1,39 @@ +{ + "episode_index": 336, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to grab the light gray tabletrashbin, dump contents", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000337.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000337.json new file mode 100644 index 0000000000000000000000000000000000000000..4a4541016d55d649daf5b0055f017789c057e244 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000337.json @@ -0,0 +1,39 @@ +{ + "episode_index": 337, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to grab the white cylindrical waste bin and pour.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + 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file mode 100644 index 0000000000000000000000000000000000000000..f2c22ed722623fca2bc729e17dc75db4f847c3ed --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000338.json @@ -0,0 +1,53 @@ +{ + "episode_index": 338, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Control the arm to raise the compact tabletop trashbin and pour.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000339.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000339.json new file mode 100644 index 0000000000000000000000000000000000000000..067cf6bd069c1b517d5a3268c546b9223930fad2 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000339.json @@ -0,0 +1,53 @@ +{ + "episode_index": 339, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the small cylindrical speckled tabletrashbin using the arm to pour balls.", + "num_frames": 320, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 319, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000340.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000340.json new file mode 100644 index 0000000000000000000000000000000000000000..37df74d9d37080c4f3cc582f5a0bbf77de085768 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000340.json @@ -0,0 +1,39 @@ +{ + "episode_index": 340, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the cylindrical tabletrashbin with flared rim and pour all balls into bin", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + 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file mode 100644 index 0000000000000000000000000000000000000000..f709be7b9683b2ad64c7be33cfacdd4ced3afc3a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000341.json @@ -0,0 +1,39 @@ +{ + "episode_index": 341, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Control the arm to raise the simple tabletop trashbin and pour.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000342.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000342.json new file mode 100644 index 0000000000000000000000000000000000000000..4064dbe6cb46c7cbdf6f22ecd738f9908ec35f85 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000342.json @@ -0,0 +1,39 @@ +{ + "episode_index": 342, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the tabletrashbin with smooth grooves, dump balls in big bin", + "num_frames": 162, + "subtasks": [ 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b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000343.json new file mode 100644 index 0000000000000000000000000000000000000000..4a470f08ff990aab88570f6e0cc4cbbf8e6fcd46 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000343.json @@ -0,0 +1,53 @@ +{ + "episode_index": 343, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to pick the small white trashbin, pour in bin", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 212, + "arm": "left", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000344.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000344.json new file mode 100644 index 0000000000000000000000000000000000000000..b32ef9d05986ab3b98d0ec9e5fe086c710e81deb --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000344.json @@ -0,0 +1,53 @@ +{ + "episode_index": 344, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the desk-sized white tabletrashbin and pour carefully.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 340, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 220, + "arm": "left", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000345.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000345.json new file mode 100644 index 0000000000000000000000000000000000000000..d3b172dfa480e46a93e96ba14b4f76c1084affdd --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000345.json @@ -0,0 +1,39 @@ +{ + "episode_index": 345, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the lightweight trash container and pour the balls out.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000346.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000346.json new file mode 100644 index 0000000000000000000000000000000000000000..f2c757ef84c191c605380f69a2c16c04030cf2c5 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000346.json @@ -0,0 +1,53 @@ +{ + "episode_index": 346, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to grab the mini white trashbin for desk and pour.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 219, + "arm": "left", + "kind": "close", + "start_frame": 212, + "end_frame": 226 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000347.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000347.json new file mode 100644 index 0000000000000000000000000000000000000000..886faa948b26a81d29b2f41e93d79a644667226a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000347.json @@ -0,0 +1,53 @@ +{ + "episode_index": 347, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the smooth tabletrashbin for small waste, pour its contents away.", + "num_frames": 317, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 316, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000348.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000348.json new file mode 100644 index 0000000000000000000000000000000000000000..8d90f604ca4615dec2ecd73e15498a035c3fcbc3 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000348.json @@ -0,0 +1,39 @@ +{ + "episode_index": 348, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Control the arm to raise the gray plastic trashbin and pour.", + "num_frames": 155, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 154, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000349.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000349.json new file mode 100644 index 0000000000000000000000000000000000000000..cc0e7565b7f8444ab9e2bcdfded48fa5b0d825f6 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000349.json @@ -0,0 +1,39 @@ +{ + "episode_index": 349, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the minimalist gray tabletrashbin, pour contents.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000350.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000350.json new file mode 100644 index 0000000000000000000000000000000000000000..73134d01dc08fb64f1b79f611762c9ec27226aeb --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000350.json @@ -0,0 +1,53 @@ +{ + "episode_index": 350, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the compact tabletop trashbin and empty its contents.", + "num_frames": 320, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 319, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 212, + "arm": "left", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000351.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000351.json new file mode 100644 index 0000000000000000000000000000000000000000..28e4a6a43328d755a454caa7e53e6d7ed46a530e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000351.json @@ -0,0 +1,39 @@ +{ + "episode_index": 351, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the desk-sized white tabletrashbin and pour the balls out.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000352.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000352.json new file mode 100644 index 0000000000000000000000000000000000000000..c44f947ca70cbb9ef64e4fb01ed75673b7b5315d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000352.json @@ -0,0 +1,53 @@ +{ + "episode_index": 352, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to grab the smooth plastic tabletrashbin and pour.", + "num_frames": 340, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 339, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000353.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000353.json new file mode 100644 index 0000000000000000000000000000000000000000..229b130029ed8a6c0d63299a94cd1f7ae335d41b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000353.json @@ -0,0 +1,39 @@ +{ + "episode_index": 353, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to grab the light gray tabletrashbin, dump contents", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000354.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000354.json new file mode 100644 index 0000000000000000000000000000000000000000..461fb94e57357d81d2dc3748b6328b6c4e179957 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000354.json @@ -0,0 +1,39 @@ +{ + "episode_index": 354, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to empty the simple white plastic trashbin into the bin.", + "num_frames": 160, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 159, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000355.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000355.json new file mode 100644 index 0000000000000000000000000000000000000000..7eab47e383e1df5bf4b4c1a357f9dc7737c2ba61 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000355.json @@ -0,0 +1,53 @@ +{ + "episode_index": 355, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to pick the cylindrical tabletrashbin with flared rim, pour in bin", + "num_frames": 321, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 320, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000356.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000356.json new file mode 100644 index 0000000000000000000000000000000000000000..6425de0602efe8212655cbc6550177d6ef797736 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000356.json @@ -0,0 +1,53 @@ +{ + "episode_index": 356, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the cylindrical small white trashbin, pour its contents away.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000357.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000357.json new file mode 100644 index 0000000000000000000000000000000000000000..7238375ca23d9d3ec1300bea9e808938fc42a102 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000357.json @@ -0,0 +1,39 @@ +{ + "episode_index": 357, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to grab the tabletrashbin for tabletop trash, dump contents", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000359.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000359.json new file mode 100644 index 0000000000000000000000000000000000000000..98c486bee01fbe3c5fae99ecb6a3c4a0e7dfa247 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000359.json @@ -0,0 +1,39 @@ +{ + "episode_index": 359, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the cylindrical tabletrashbin and pour the balls.", + "num_frames": 164, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 163, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000360.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000360.json new file mode 100644 index 0000000000000000000000000000000000000000..aa21cc210baae1c6dd7c6fc11edd5ee607744a48 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000360.json @@ -0,0 +1,53 @@ +{ + "episode_index": 360, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the white cylindrical waste bin and pour the balls out.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 338, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 134, + "arm": "right", + "kind": 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plastic tabletrashbin and pour the balls.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000362.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000362.json new file mode 100644 index 0000000000000000000000000000000000000000..d65c379da30c0dfa901078397c59927aadeafe16 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000362.json @@ -0,0 +1,39 @@ +{ + "episode_index": 362, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the mini white trashbin for desk and pour contents.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 166, + "boundary_source": "episode_end", + 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b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000363.json @@ -0,0 +1,53 @@ +{ + "episode_index": 363, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the simple white plastic trashbin with arm and pour contents", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 127, + "arm": "right", + "kind": 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a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000365.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000365.json new file mode 100644 index 0000000000000000000000000000000000000000..819f6dc982672c3621554c55e32bcbd10f9f191b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000365.json @@ -0,0 +1,53 @@ +{ + "episode_index": 365, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pour balls from the compact rectangular tabletrashbin into the bin.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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+ "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000367.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000367.json new file mode 100644 index 0000000000000000000000000000000000000000..7c4dd9261e4727c083ece6bb074d065b5f26488e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000367.json @@ -0,0 +1,39 @@ +{ + "episode_index": 367, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the desk-sized white tabletrashbin and pour it out.", + "num_frames": 176, + "subtasks": [ + { + "subtask_index": 0, + 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file mode 100644 index 0000000000000000000000000000000000000000..7bedc40e339058f26dbee0bec9c8a752e59b7254 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000368.json @@ -0,0 +1,39 @@ +{ + "episode_index": 368, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab and tilt the tabletrashbin to empty the balls.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000369.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000369.json new file mode 100644 index 0000000000000000000000000000000000000000..381e7256449f8538f28f8143825ba51126e1aacf --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000369.json @@ -0,0 +1,39 @@ +{ + "episode_index": 369, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the white cylindrical waste bin and transfer balls.", + "num_frames": 168, + "subtasks": [ + { + 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b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000370.json new file mode 100644 index 0000000000000000000000000000000000000000..83a7be494ccc62b6555a2f7c8af2ade8bdbd12a1 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000370.json @@ -0,0 +1,39 @@ +{ + "episode_index": 370, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to empty the tabletrashbin with yellow symbol into the bin.", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000371.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000371.json new file mode 100644 index 0000000000000000000000000000000000000000..0b76989e169f15d1061f1f90cbe4b00aea6a444d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000371.json @@ -0,0 +1,39 @@ +{ + "episode_index": 371, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the simple tabletop trashbin, pour its contents away.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000372.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000372.json new file mode 100644 index 0000000000000000000000000000000000000000..005484315496062d33eea6ab923935ac3dcf0d81 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000372.json @@ -0,0 +1,53 @@ +{ + "episode_index": 372, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the compact bin with rounded edges and pour the balls.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 219, + "arm": "left", + "kind": "close", + "start_frame": 212, + "end_frame": 226 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000373.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000373.json new file mode 100644 index 0000000000000000000000000000000000000000..e5a23632e5be1ed6d0e961d61b6e3e7a16d6ff5e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000373.json @@ -0,0 +1,39 @@ +{ + "episode_index": 373, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the smooth plastic tabletrashbin and pour.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": 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new file mode 100644 index 0000000000000000000000000000000000000000..114eba1f1cc8541e6acb49ed98ca4b45b0d6587f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000375.json @@ -0,0 +1,39 @@ +{ + "episode_index": 375, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the smooth plastic tabletrashbin and dump the balls.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000376.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000376.json new file mode 100644 index 0000000000000000000000000000000000000000..6cf660001b4ed9570b90bf0e2d8ff5cdaad52243 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000376.json @@ -0,0 +1,39 @@ +{ + "episode_index": 376, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the cylindrical tabletrashbin with flared rim, dump balls in big bin", + "num_frames": 168, 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b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000377.json new file mode 100644 index 0000000000000000000000000000000000000000..9e188f7512aee01398a060c3bd3e9083258b1e9b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000377.json @@ -0,0 +1,39 @@ +{ + "episode_index": 377, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the light gray bucket-shaped waste bin, pour contents.", + "num_frames": 158, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 157, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000378.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000378.json new file mode 100644 index 0000000000000000000000000000000000000000..80a6e946e14482101e8d8b7b7889e7c6afedaff7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000378.json @@ -0,0 +1,39 @@ +{ + "episode_index": 378, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the small rectangular bin for waste and dump its balls.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000379.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000379.json new file mode 100644 index 0000000000000000000000000000000000000000..3c4e302c6ec6e967119ffd67c95a0f5458cc356d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000379.json @@ -0,0 +1,39 @@ +{ + "episode_index": 379, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the cylindrical tabletrashbin and pour the balls.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000380.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000380.json new file mode 100644 index 0000000000000000000000000000000000000000..a63e3ee10ae286d84cfe3a0f448590aae62fccb5 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000380.json @@ -0,0 +1,53 @@ +{ + "episode_index": 380, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Direct the arm to grab the tabletrashbin for tabletop trash and tilt.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000381.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000381.json new file mode 100644 index 0000000000000000000000000000000000000000..d575b3644fae8e4ba6aa1c2e97a5c99d1cce553a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000381.json @@ -0,0 +1,39 @@ +{ + "episode_index": 381, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the tabletrashbin for tabletop trash and empty it into the bin.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + 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file mode 100644 index 0000000000000000000000000000000000000000..2135ca0a31b72dea4e1216b706b2c6a9850697ed --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000382.json @@ -0,0 +1,39 @@ +{ + "episode_index": 382, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the light gray waste container using the arm to pour balls.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000383.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000383.json new file mode 100644 index 0000000000000000000000000000000000000000..bd6578cdc2aec673f7e631810b29ea4ae20bacbf --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000383.json @@ -0,0 +1,39 @@ +{ + "episode_index": 383, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to grab the tabletrashbin, dump contents", + "num_frames": 157, + "subtasks": [ + { + 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b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000384.json new file mode 100644 index 0000000000000000000000000000000000000000..ab78c9ba1b42d03348a90825455f327aaa58e3e9 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000384.json @@ -0,0 +1,39 @@ +{ + "episode_index": 384, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Control the arm to raise the light gray cylindrical trashbin and pour.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000385.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000385.json new file mode 100644 index 0000000000000000000000000000000000000000..d2f3f8ef5a99497af0d429b977fc3939430319e4 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000385.json @@ -0,0 +1,53 @@ +{ + "episode_index": 385, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the desk-sized white tabletrashbin and transfer balls.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 220, + "arm": "left", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000386.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000386.json new file mode 100644 index 0000000000000000000000000000000000000000..a99d2049d2bae1347ad2a1929d9c3571a1ef935e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000386.json @@ -0,0 +1,53 @@ +{ + "episode_index": 386, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the round gray tabletrashbin, empty into the big bin", + "num_frames": 319, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 318, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "right", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 211, + "arm": "left", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000387.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000387.json new file mode 100644 index 0000000000000000000000000000000000000000..cc102466bfd771f6051acc33ae7bb3a7b7edaf39 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000387.json @@ -0,0 +1,39 @@ +{ + "episode_index": 387, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the light gray smooth tabletrashbin up, pour all balls inside bin", + "num_frames": 164, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 163, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000388.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000388.json new file mode 100644 index 0000000000000000000000000000000000000000..9fbe46e5203b934f0efb6f9d173ee2cac5952a90 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000388.json @@ -0,0 +1,39 @@ +{ + "episode_index": 388, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the cylindrical small white trashbin and empty it into the bin.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000389.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000389.json new file mode 100644 index 0000000000000000000000000000000000000000..8313e59160604d016024be1fef97052749568bee --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000389.json @@ -0,0 +1,39 @@ +{ + "episode_index": 389, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the small container with yellow logo and pour contents down.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000390.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000390.json new file mode 100644 index 0000000000000000000000000000000000000000..8b4e75f97798229f86fc7e5aa5bbccd697ee6898 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000390.json @@ -0,0 +1,39 @@ +{ + "episode_index": 390, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the tabletrashbin for holding waste, pour its contents away.", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000391.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000391.json new file mode 100644 index 0000000000000000000000000000000000000000..42e76927a8b8a6711ffae37c5b76f63f39d4b01e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000391.json @@ -0,0 +1,39 @@ +{ + "episode_index": 391, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the rectangular tabletop waste container, pour contents into big bin", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000392.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000392.json new file mode 100644 index 0000000000000000000000000000000000000000..528252993ecc5d168a41f6111903fece1273722e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000392.json @@ -0,0 +1,53 @@ +{ + "episode_index": 392, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the open-top tabletrashbin and empty its contents.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000393.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000393.json new file mode 100644 index 0000000000000000000000000000000000000000..0c71c9269c60d6a54649e0f99a8fc6c57723730c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000393.json @@ -0,0 +1,39 @@ +{ + "episode_index": 393, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Control the arm to raise the light gray tabletrashbin and pour.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000394.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000394.json new file mode 100644 index 0000000000000000000000000000000000000000..68a91ddc0c15647835a68fc25e47c7f29b9385d4 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000394.json @@ -0,0 +1,53 @@ +{ + "episode_index": 394, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the white cylindrical waste bin, pour its contents away.", + "num_frames": 344, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 343, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + 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b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000395.json @@ -0,0 +1,53 @@ +{ + "episode_index": 395, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the white bin with flared top edge using arm, pour contents inside", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000396.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000396.json new file mode 100644 index 0000000000000000000000000000000000000000..8972bb8be629743858b2188128bbfcf8217b5b70 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000396.json @@ -0,0 +1,39 @@ +{ + "episode_index": 396, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the cylindrical tabletrashbin and dump the balls.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000397.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000397.json new file mode 100644 index 0000000000000000000000000000000000000000..1434edccaeef569a85122f68bb3b1e622a87b411 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000397.json @@ -0,0 +1,39 @@ +{ + "episode_index": 397, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the compact tabletop trashbin using arm, pour contents inside", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000398.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000398.json new file mode 100644 index 0000000000000000000000000000000000000000..9cc13abae200b02c7685176ff26688fd6af89436 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000398.json @@ -0,0 +1,39 @@ +{ + "episode_index": 398, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the tabletrashbin for holding waste, empty into the big bin", + "num_frames": 161, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 160, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000399.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000399.json new file mode 100644 index 0000000000000000000000000000000000000000..3c26e0ea0f1b12d816eecbd506d01479a9cbc36d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000399.json @@ -0,0 +1,53 @@ +{ + "episode_index": 399, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the dark gray cylindrical tabletrashbin and dump the balls.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000400.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000400.json new file mode 100644 index 0000000000000000000000000000000000000000..d3dd7ce175c22b7593a131f53651d5153ea4fc5e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000400.json @@ -0,0 +1,39 @@ +{ + "episode_index": 400, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the rectangular tabletop waste container and pour carefully.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000401.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000401.json new file mode 100644 index 0000000000000000000000000000000000000000..7975683b75dd28296c38b9261c4d8e6d19d8f185 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000401.json @@ -0,0 +1,39 @@ +{ + "episode_index": 401, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the light gray waste container up, pour all balls inside bin", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000402.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000402.json new file mode 100644 index 0000000000000000000000000000000000000000..f3030468ee9bbf93af35f24f8b09fff062541020 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000402.json @@ -0,0 +1,39 @@ +{ + "episode_index": 402, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the compact rectangular tabletrashbin to pour the balls out.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000403.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000403.json new file mode 100644 index 0000000000000000000000000000000000000000..646307e29e2ee260ae1f961f91cc818a58ab3925 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000403.json @@ -0,0 +1,39 @@ +{ + "episode_index": 403, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pour balls from the desk-sized white tabletrashbin into the bin.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000404.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000404.json new file mode 100644 index 0000000000000000000000000000000000000000..e1829c38513cb60f54387d8865e48ad7acc9173c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000404.json @@ -0,0 +1,39 @@ +{ + "episode_index": 404, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the light gray smooth tabletrashbin to pour the balls out.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000405.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000405.json new file mode 100644 index 0000000000000000000000000000000000000000..d7e51d965988b3a324137931ddf9279f36290498 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000405.json @@ -0,0 +1,53 @@ +{ + "episode_index": 405, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the desk-sized white tabletrashbin, then pour contents.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000406.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000406.json new file mode 100644 index 0000000000000000000000000000000000000000..ea1fb71bdabc0fa14283411ad25d6b905970fefd --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000406.json @@ -0,0 +1,39 @@ +{ + "episode_index": 406, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the cylindrical tabletrashbin with flared rim and pour contents down.", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000407.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000407.json new file mode 100644 index 0000000000000000000000000000000000000000..409f6e549e68377dce944f1e6428231ba7ebec44 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000407.json @@ -0,0 +1,53 @@ +{ + "episode_index": 407, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to lift the round gray tabletrashbin and empty it.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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"scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000410.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000410.json new file mode 100644 index 0000000000000000000000000000000000000000..b4e1d0d00f3dfa4e2af8e71da509f70ef3882dc8 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000410.json @@ -0,0 +1,53 @@ +{ + "episode_index": 410, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the compact speckled surface tabletrashbin, pour into the big bin.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin 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a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000411.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000411.json new file mode 100644 index 0000000000000000000000000000000000000000..f348721a5bfe4fbda7126f6f00cd681d2c763cc2 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000411.json @@ -0,0 +1,39 @@ +{ + "episode_index": 411, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to empty the light gray tabletrashbin into the bin.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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"semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000413.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000413.json new file mode 100644 index 0000000000000000000000000000000000000000..dc45fa0bdd3eb93bc893372ca947c8c93cb9e454 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000413.json @@ -0,0 +1,53 @@ +{ + "episode_index": 413, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the white bin with flared top edge, pour its contents out.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 338, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000414.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000414.json new file mode 100644 index 0000000000000000000000000000000000000000..4b92b45cf97b26f06a1a2a3e824a6a0014e4109e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000414.json @@ -0,0 +1,53 @@ +{ + "episode_index": 414, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the small white trashbin and dump the balls.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 134, + "arm": "right", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000415.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000415.json new file mode 100644 index 0000000000000000000000000000000000000000..9fbbd4fe7288d6358c93c6c391e856539bc3ea21 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000415.json @@ -0,0 +1,53 @@ +{ + "episode_index": 415, + "repo": 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], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000416.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000416.json new file mode 100644 index 0000000000000000000000000000000000000000..96aae333e2780bb1c6bfe1187e3d22be98c92c26 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000416.json @@ -0,0 +1,53 @@ +{ + "episode_index": 416, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the cylindrical tabletrashbin with flared rim and empty it into the bin.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000417.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000417.json new file mode 100644 index 0000000000000000000000000000000000000000..65b5dad1c4485638fe0e6881ef76c92054fbf79b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000417.json @@ -0,0 +1,53 @@ +{ + "episode_index": 417, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the tabletrashbin, then pour the balls.", + "num_frames": 325, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 324, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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0000000000000000000000000000000000000000..1b62bde107563a17be63208602984ac5658fa623 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000418.json @@ -0,0 +1,39 @@ +{ + "episode_index": 418, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the cylindrical tabletrashbin and pour all balls into bin", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000419.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000419.json new file mode 100644 index 0000000000000000000000000000000000000000..483da79d7e600744afc1afbfdc337a52558776d5 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000419.json @@ -0,0 +1,39 @@ +{ + "episode_index": 419, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the cylindrical small white trashbin using arm, pour contents inside", + "num_frames": 173, + "subtasks": [ + { + 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b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000420.json new file mode 100644 index 0000000000000000000000000000000000000000..d11bff67400afd5fafff8a8b303d63f047183c95 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000420.json @@ -0,0 +1,39 @@ +{ + "episode_index": 420, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the small tabletop trashbin, pour contents.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000421.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000421.json new file mode 100644 index 0000000000000000000000000000000000000000..c50668771f7b82e612546c25883b430483b020db --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000421.json @@ -0,0 +1,39 @@ +{ + "episode_index": 421, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the white bin with flared top edge and pour its contents into bin.", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000422.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000422.json new file mode 100644 index 0000000000000000000000000000000000000000..b3f5702ce1c4998a809d1057fa771dd8b5b7579b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000422.json @@ -0,0 +1,39 @@ +{ + "episode_index": 422, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Control the arm to raise the small white trashbin and pour.", + "num_frames": 154, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 153, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000423.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000423.json new file mode 100644 index 0000000000000000000000000000000000000000..f9d273a23aa249ece58c2eb0b624b5f8e50cd968 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000423.json @@ -0,0 +1,39 @@ +{ + "episode_index": 423, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the desk-sized white tabletrashbin and pour contents.", + "num_frames": 164, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 163, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 51, + "arm": "left", + "kind": "close", + "start_frame": 44, + "end_frame": 58 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000424.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000424.json new file mode 100644 index 0000000000000000000000000000000000000000..98a9d28cfd7ceb17b4d1d81fdfc8b88ddfcd4a01 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000424.json @@ -0,0 +1,39 @@ +{ + "episode_index": 424, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the compact tabletop trashbin and pour carefully.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000425.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000425.json new file mode 100644 index 0000000000000000000000000000000000000000..b2a06b87ad382a3e8dcc8cc40685e465ab4c73c5 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000425.json @@ -0,0 +1,39 @@ +{ + "episode_index": 425, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the light gray bucket-shaped waste bin and dump the balls.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000426.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000426.json new file mode 100644 index 0000000000000000000000000000000000000000..7f37adb3aa716fe5b893e5300c09261a552086b4 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000426.json @@ -0,0 +1,39 @@ +{ + "episode_index": 426, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the simple tabletop trashbin, pour its contents out.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000427.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000427.json new file mode 100644 index 0000000000000000000000000000000000000000..63c42e339e8cfa409b266d581e787c49ec190ec1 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000427.json @@ -0,0 +1,39 @@ +{ + "episode_index": 427, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the open gray tabletrashbin and pour contents down.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000428.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000428.json new file mode 100644 index 0000000000000000000000000000000000000000..119928608bb1c1aa04e64acbb30fbe52cccdb734 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000428.json @@ -0,0 +1,39 @@ +{ + "episode_index": 428, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the open gray tabletrashbin, pour the balls into big bin", + "num_frames": 161, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 160, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000429.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000429.json new file mode 100644 index 0000000000000000000000000000000000000000..fbf6bbb76d02ca5f854f9e462eaab1fbb1c67998 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000429.json @@ -0,0 +1,53 @@ +{ + "episode_index": 429, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the tabletrashbin for tabletop trash using arm, pour contents inside", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000430.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000430.json new file mode 100644 index 0000000000000000000000000000000000000000..eb43464d524f7cafdb277a6ddd0666a7376ca01f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000430.json @@ -0,0 +1,39 @@ +{ + "episode_index": 430, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the white round tabletrashbin, empty into the big bin", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000431.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000431.json new file mode 100644 index 0000000000000000000000000000000000000000..267ba493b057f05d5ba6b4b9bb52aac1c7e0e910 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000431.json @@ -0,0 +1,39 @@ +{ + "episode_index": 431, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the mini white trashbin for desk and pour into bin.", + "num_frames": 157, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 156, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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"episode_index": 432, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift up the small rectangular bin for waste, then pour balls.", + "num_frames": 175, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 174, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000433.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000433.json new file mode 100644 index 0000000000000000000000000000000000000000..24c4eb1cb7de93afafa3cf5af6f45faca6058141 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000433.json @@ -0,0 +1,53 @@ +{ + "episode_index": 433, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Direct the arm to grab the tabletrashbin with grooves on sides and tilt.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": 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b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000434.json new file mode 100644 index 0000000000000000000000000000000000000000..03aa4929f1d1d7b24fbcace587a6769a7d603886 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000434.json @@ -0,0 +1,39 @@ +{ + "episode_index": 434, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the small light gray waste bin, then pour contents.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": 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"task_goal": "Use the arm to grab the light gray waste container and pour.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000436.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000436.json new file mode 100644 index 0000000000000000000000000000000000000000..efadfaeec41829d3ea61a7ce240a1400c68232af --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000436.json @@ -0,0 +1,39 @@ +{ + "episode_index": 436, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the smooth plastic tabletrashbin, then pour balls into the bin.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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"episode_index": 437, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the rectangular tabletop waste container and empty its contents.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000438.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000438.json new file mode 100644 index 0000000000000000000000000000000000000000..50d3eb711dc67f07dddce182c3bc18f71efd1935 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000438.json @@ -0,0 +1,39 @@ +{ + "episode_index": 438, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the tabletrashbin with smooth grooves and pour the balls.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": 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b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000439.json @@ -0,0 +1,53 @@ +{ + "episode_index": 439, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the small tabletrashbin and pour.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 220, + "arm": "left", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000440.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000440.json new file mode 100644 index 0000000000000000000000000000000000000000..cc871720872c10e82207c3f0c45bfda6c7f765d0 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000440.json @@ -0,0 +1,39 @@ +{ + "episode_index": 440, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the light gray bucket-shaped waste bin with arm and pour contents", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000441.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000441.json new file mode 100644 index 0000000000000000000000000000000000000000..ba3c5af05f3ae15cb0249c0553488023a722ebd9 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000441.json @@ -0,0 +1,53 @@ +{ + "episode_index": 441, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the open-top tabletrashbin and pour contents down.", + "num_frames": 346, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 345, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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0000000000000000000000000000000000000000..de443e0c51a2217d7f25e8ff111b17ee33d8bb4c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000442.json @@ -0,0 +1,53 @@ +{ + "episode_index": 442, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the simple tabletop trashbin, then pour the balls.", + "num_frames": 323, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 322, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000443.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000443.json new file mode 100644 index 0000000000000000000000000000000000000000..6f6ec2c78346176fe67e29f64cd9bd5d9752e15c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000443.json @@ -0,0 +1,39 @@ +{ + "episode_index": 443, + "repo": 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diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000444.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000444.json new file mode 100644 index 0000000000000000000000000000000000000000..7a72574fb2c3c4561c294342792575447cb58a2b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000444.json @@ -0,0 +1,39 @@ +{ + "episode_index": 444, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Raise the mini white trashbin for desk to dump its contents out.", + "num_frames": 161, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 160, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000445.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000445.json new file mode 100644 index 0000000000000000000000000000000000000000..07ad9f1ae18f1e886a2426cf6ad25fff0eb3937c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000445.json @@ -0,0 +1,53 @@ +{ + "episode_index": 445, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the simple white plastic trashbin and transfer balls to the bin.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000446.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000446.json new file mode 100644 index 0000000000000000000000000000000000000000..cb96b7d56e213b168272c14264fbdfabbd260f2b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000446.json @@ -0,0 +1,39 @@ +{ + "episode_index": 446, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the smooth plastic tabletrashbin, then pour the balls.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + 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file mode 100644 index 0000000000000000000000000000000000000000..e54fb741337a91e27aeb8136f2aa05359c2a8da7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000447.json @@ -0,0 +1,53 @@ +{ + "episode_index": 447, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the dark gray cylindrical tabletrashbin and empty its contents.", + "num_frames": 353, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 352, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 66, + "arm": "right", + "kind": "close", + "start_frame": 59, + "end_frame": 73 + }, + { + "frame": 142, + "arm": "right", + "kind": "open", + "start_frame": 135, + "end_frame": 149 + }, + { + "frame": 230, + "arm": "left", + "kind": "close", + "start_frame": 223, + "end_frame": 237 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000448.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000448.json new file mode 100644 index 0000000000000000000000000000000000000000..f452b0a07443fe2ad04a4f64ce95d3145058e715 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000448.json @@ -0,0 +1,39 @@ +{ + "episode_index": 448, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the small container with yellow logo and pour the balls.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000449.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000449.json new file mode 100644 index 0000000000000000000000000000000000000000..a8e9e28102589beac41880ea20d021bb68f9fdd0 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000449.json @@ -0,0 +1,53 @@ +{ + "episode_index": 449, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the small light gray waste bin and empty it into the bin.", + "num_frames": 343, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 342, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 135, + "arm": "right", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + }, + { + "frame": 225, + "arm": "left", + "kind": "close", + "start_frame": 218, + "end_frame": 232 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000450.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000450.json new file mode 100644 index 0000000000000000000000000000000000000000..96ef4cd020caae61646e3b0e28a6ea8c1b20856f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000450.json @@ -0,0 +1,39 @@ +{ + "episode_index": 450, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the tabletrashbin for holding waste, pour contents.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000451.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000451.json new file mode 100644 index 0000000000000000000000000000000000000000..382ad9328186cf71d11d565422b4cc0903481a7f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000451.json @@ -0,0 +1,53 @@ +{ + "episode_index": 451, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the simple white plastic trashbin, pour its contents away.", + "num_frames": 330, + "subtasks": [ + { + 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--git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000452.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000452.json new file mode 100644 index 0000000000000000000000000000000000000000..823f4fe5cbdd688dd6a29a3bfc3b81aa6275aa73 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000452.json @@ -0,0 +1,39 @@ +{ + "episode_index": 452, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the compact speckled surface tabletrashbin and pour contents.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_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 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000453.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000453.json new file mode 100644 index 0000000000000000000000000000000000000000..2536472e7377392f6564cafcaf79101201dc4e18 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000453.json @@ -0,0 +1,39 @@ +{ + "episode_index": 453, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to grab the white cylindrical waste bin and pour.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000454.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000454.json new file mode 100644 index 0000000000000000000000000000000000000000..a8eeec3c6e383c416475a9b5ce87a8a4e60af77c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000454.json @@ -0,0 +1,39 @@ +{ + "episode_index": 454, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the smooth plastic tabletrashbin and pour the balls out.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000455.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000455.json new file mode 100644 index 0000000000000000000000000000000000000000..9182a865bdb07b887bcaa7db0b94cf574f9dd3fa --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000455.json @@ -0,0 +1,39 @@ +{ + "episode_index": 455, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the cylindrical small white trashbin using arm, pour contents inside", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000456.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000456.json new file mode 100644 index 0000000000000000000000000000000000000000..f74e7ffdfdf72400d28ccb87e6ad71e892183ed2 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000456.json @@ -0,0 +1,53 @@ +{ + "episode_index": 456, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pour balls from the rectangular tabletop waste container into the bin.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + 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a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000457.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000457.json new file mode 100644 index 0000000000000000000000000000000000000000..9f94a8de113336ecd270e4dc4dfff456fe299f45 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000457.json @@ -0,0 +1,53 @@ +{ + "episode_index": 457, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the simple white plastic trashbin using arm, pour contents inside", + "num_frames": 323, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 322, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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--git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000460.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000460.json new file mode 100644 index 0000000000000000000000000000000000000000..fd5621f53366ef884155d5ef3bcd557ea8da7884 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000460.json @@ -0,0 +1,53 @@ +{ + "episode_index": 460, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Direct the arm to grab the compact rectangular tabletrashbin and tilt.", + "num_frames": 345, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 344, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + 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--git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000463.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000463.json new file mode 100644 index 0000000000000000000000000000000000000000..33985cddf40370bb85f4f354626fe61a14204e95 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000463.json @@ -0,0 +1,53 @@ +{ + "episode_index": 463, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grasp the compact bin with rounded edges and empty it out.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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"kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000465.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000465.json new file mode 100644 index 0000000000000000000000000000000000000000..2e483af7c2cd9cadad78956fd6a50c5a9736d88a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000465.json @@ -0,0 +1,53 @@ +{ + "episode_index": 465, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the cylindrical tabletrashbin with flared rim and pour the balls.", + "num_frames": 333, + "subtasks": [ + 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--git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000466.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000466.json new file mode 100644 index 0000000000000000000000000000000000000000..e2422135b7008b26f2649088180ea4732565bb94 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000466.json @@ -0,0 +1,39 @@ +{ + "episode_index": 466, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the tabletrashbin with black specks, empty into the big bin", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + 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a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000469.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000469.json new file mode 100644 index 0000000000000000000000000000000000000000..1e0ff9397db031f90d22d7319b45d12843f01b81 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000469.json @@ -0,0 +1,53 @@ +{ + "episode_index": 469, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pour balls from the plastic tabletrashbin into the bin.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000472.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000472.json new file mode 100644 index 0000000000000000000000000000000000000000..740b31569a2cff80ef50be8ef78d5d95a596d3e5 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000472.json @@ -0,0 +1,53 @@ +{ + "episode_index": 472, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the white bin with flared top edge, then pour contents.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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--git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000475.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000475.json new file mode 100644 index 0000000000000000000000000000000000000000..5badffabcb178ea93e8ef77f288a804e25ef11d0 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000475.json @@ -0,0 +1,39 @@ +{ + "episode_index": 475, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the dark gray cylindrical tabletrashbin, pour contents into big bin", + "num_frames": 176, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 175, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + 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b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000481.json @@ -0,0 +1,53 @@ +{ + "episode_index": 481, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab and tilt the cylindrical tabletrashbin with flared rim to empty the balls.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 337, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "right", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 128, + "arm": 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a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000483.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000483.json new file mode 100644 index 0000000000000000000000000000000000000000..c2bea6a7a5fbfbb4fc31139056e312e05ba2da5a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000483.json @@ -0,0 +1,53 @@ +{ + "episode_index": 483, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the gray plastic trashbin and pour the balls.", + "num_frames": 342, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 341, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": 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0000000000000000000000000000000000000000..42fd88896f25f977966e0d1c5c2df095df68ce74 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000484.json @@ -0,0 +1,39 @@ +{ + "episode_index": 484, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the tabletrashbin and pour the balls out.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000485.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000485.json new file mode 100644 index 0000000000000000000000000000000000000000..3ec767ce558c15dc2f3c601ea789d8432504c961 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000485.json @@ -0,0 +1,39 @@ +{ + "episode_index": 485, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the cylindrical tabletrashbin and pour balls into the bin.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + 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file mode 100644 index 0000000000000000000000000000000000000000..9d2f58450826ea836e4052a7bf8b7ed927773647 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000486.json @@ -0,0 +1,39 @@ +{ + "episode_index": 486, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to lift the small rectangular tabletrashbin and empty it.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000487.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000487.json new file mode 100644 index 0000000000000000000000000000000000000000..ef25a4cef1fb6aa9cac5ca30ede84004bc700989 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000487.json @@ -0,0 +1,39 @@ +{ + "episode_index": 487, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to lift the light gray trash bin and empty it.", + "num_frames": 173, + "subtasks": 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b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000488.json new file mode 100644 index 0000000000000000000000000000000000000000..5ae68ea63ef63f680c245e242f37bb7f7c7b3ee8 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000488.json @@ -0,0 +1,39 @@ +{ + "episode_index": 488, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the white round tabletrashbin to pour the balls out.", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": 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"Lift the tabletrashbin, pour the balls into big bin", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000490.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000490.json new file mode 100644 index 0000000000000000000000000000000000000000..86c56f606c8893251fddf10af92a988e4f758506 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000490.json @@ -0,0 +1,39 @@ +{ + "episode_index": 490, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the small cylindrical speckled tabletrashbin and pour the balls.", + "num_frames": 175, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 174, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000491.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000491.json new file mode 100644 index 0000000000000000000000000000000000000000..598dca209c0abdc73504e405091b23a85bfbd998 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000491.json @@ -0,0 +1,39 @@ +{ + "episode_index": 491, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the white bin with flared top edge and pour contents.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000492.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000492.json new file mode 100644 index 0000000000000000000000000000000000000000..ac393afffc978e213d908c2df326cc98543a18ef --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000492.json @@ -0,0 +1,39 @@ +{ + "episode_index": 492, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the white round tabletrashbin using the arm to pour balls.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000493.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000493.json new file mode 100644 index 0000000000000000000000000000000000000000..1649df70191a21f2b6b6e3537e78cc3c95ad3dd2 --- /dev/null +++ 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