Datasets:
Upload batch 16/53 (robot-episodes, 4206 files)
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Using its left hand, the robot picks up a small crumpled white object from the table and places it into a small blue cube inside a pink tote, near a green cube and wooden cat figurine, on a sunlit patio.
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{"schema":"pnp2.meta/2","clip_id":"episode_006432","map":"UEDPIE_0_Town10HD_x6_baked","sequence":"episode_006432","source_sequence":"/KaistWorldModel/Carla_001/EpisodeClips/part_06/episode_006432.episode_006432","original_sequence":"/RobotActionMovieGenerator/LevelSequence/part_06/episode_006432.episode_006432","seed":1783846013,"builder_version":"ecb/0.3-m2","robot_yaw_deg":-151.60789871529553,"fps":20,"frame_count":121,"resolution":[1280,1280],"cameras":["cam00","cam01","cam02"],"source_cam":{"cam00":"pnpcam00","cam01":"pnpcam01","cam02":"pnpcam02"},"hfov_deg":{"cam00":47.498989392655723,"cam01":47.498989392655723,"cam02":47.498989392655723},"focal_mm":{"cam00":27,"cam01":27,"cam02":27},"difficulty_attempt":"hard","difficulty":"hard","hard":{"label_source":"manifest","measured_difficulty":"hard","label_mismatch":false,"hard_k":2,"hard_reasons":[],"hard_metrics":{"num_cams":3,"frames":121,"per_cam_blind_max_frames":[72,53,29],"per_cam_blind_run":[[46,117],[0,52],[17,45]],"per_cam_qualifying_run":[[46,117],[0,52],[17,45]],"per_cam_qualifying_displacement_cm":[33.735999999999997,19.123999999999999,7.7450000000000001],"per_cam_long_runs":[1,1,1],"occluded_frames_per_cam":[58,25,0],"all_blind_max_run":0,"all_blind_runs":[],"all_blind_frames":0,"occluded_frames_total":83,"union_visible_frac":1,"min_visible_cams":1},"relay":null},"randomization":{"scope":["camera_jitter","distractors"],"camera_jitter":{"cam00":{"dist_scale":1.0165551288769876,"az_delta_deg":2.9393596649169922,"elev_delta_deg":1.6532542705535889},"cam01":{"dist_scale":0.95373979655870755,"az_delta_deg":-1.1832780838012695,"elev_delta_deg":-2.6943082809448242},"cam02":{"dist_scale":0.99716807375617122,"az_delta_deg":0.43335533142089844,"elev_delta_deg":-1.0743978023529053}}},"workspace":{"table_actor":"Table","top_obb":{"center_cm":[64.636411666870117,0,59.5],"half_extent_cm":[51.874998840503395,90.874997968785465,50],"yaw_deg":0},"top_z_probe_cm":109.5,"aim":{"policy":"target_trajectory_midpoint_on_top_plane","aim_cm":[36.868396759033203,-12.507087111473083,109.5]}},"tonemap":{"mode":"Engine","enforced":false},"objects":{"replay":["small_green_cube","small_white_cube","red_plastic_tote","small_blue_cube"],"targets":["small_white_cube"],"placers":["small_green_cube","red_plastic_tote","small_blue_cube"],"contact_distractors":[],"primary_object":"small_white_cube","motion_cm":{"small_green_cube":0.00080593956842278658,"small_white_cube":35.65368282158547,"red_plastic_tote":0.058914367260173524,"small_blue_cube":0.22834230193944016},"n_distractors":6},"hard_plan":{"low_cams":"cam01","occluders":"distractor05_macaroni_cheese_box","cameras":["cam00:occluder:51-76:high","cam01:rotate:27-52:low","cam02:rotate:21-46:high"],"predicted":"cam00 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The humanoid robot uses its left hand to pick up a small green cube from the bare wood tabletop and carries it over to place it into the pink plastic tote, amid a pink vase, a magazine, a red packet, and small blue and white cubes on the table beside a tiled patio under dim, overcast light.
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The robot's left hand picks up a small blue cube from the tabletop and places it into the small green cube resting inside a pink plastic tote, near a tan bowl of dark soil, a squash, a red can, a red folder, jars, and a golden vase, under bright daylight beside city buildings.
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