Add files using upload-large-folder tool
Browse files- 1500case/asset_registry.json +85 -0
- 1500case/asset_registry.original.json +85 -0
- 1500case/assets/di5/v0001/manifest.json +14 -0
- 1500case/assets/dm2/v0001/definition.json +135 -0
- 1500case/assets/dm2/v0001/manifest.json +14 -0
- 1500case/assets/dm7/v0001/manifest.json +14 -0
- 1500case/assets/dm8/v0001/manifest.json +14 -0
- 1500case/dataset/.gitattributes +60 -0
- 1500case/dataset/README.md +155 -0
- 1500case/dataset/di1_Pick_up_basket_place_blue_block_into_basket/meta/episodes.jsonl +100 -0
- 1500case/dataset/di1_Pick_up_basket_place_blue_block_into_basket/meta/stats.json +273 -0
- 1500case/dataset/di2_Pick_up_basket_put_triangular_block_intobasket/meta/episodes.jsonl +100 -0
- 1500case/dataset/di2_Pick_up_basket_put_triangular_block_intobasket/meta/episodes_stats.jsonl +0 -0
- 1500case/dataset/di2_Pick_up_basket_put_triangular_block_intobasket/meta/info.json +181 -0
- 1500case/dataset/di2_Pick_up_basket_put_triangular_block_intobasket/meta/stats.json +273 -0
- 1500case/dataset/di2_Pick_up_basket_put_triangular_block_intobasket/meta/tasks.jsonl +1 -0
- 1500case/dataset/di3_Pick_up_basket_place_largest_block_into_basket/meta/episodes.jsonl +100 -0
- 1500case/dataset/di3_Pick_up_basket_place_largest_block_into_basket/meta/episodes_stats.jsonl +0 -0
- 1500case/dataset/di3_Pick_up_basket_place_largest_block_into_basket/meta/info.json +181 -0
- 1500case/dataset/di3_Pick_up_basket_place_largest_block_into_basket/meta/stats.json +273 -0
- 1500case/dataset/di3_Pick_up_basket_place_largest_block_into_basket/meta/tasks.jsonl +1 -0
- 1500case/dataset/di4_Pick_object_to_left_of_cylinder_place_basket/meta/episodes.jsonl +100 -0
- 1500case/dataset/di4_Pick_object_to_left_of_cylinder_place_basket/meta/episodes_stats.jsonl +0 -0
- 1500case/dataset/di4_Pick_object_to_left_of_cylinder_place_basket/meta/info.json +181 -0
- 1500case/dataset/di4_Pick_object_to_left_of_cylinder_place_basket/meta/stats.json +273 -0
- 1500case/dataset/di4_Pick_object_to_left_of_cylinder_place_basket/meta/tasks.jsonl +1 -0
- 1500case/dataset/di6_Pick_up_two_cubes_place_into_two_baskets/meta/episodes.jsonl +100 -0
- 1500case/dataset/di6_Pick_up_two_cubes_place_into_two_baskets/meta/episodes_stats.jsonl +0 -0
- 1500case/dataset/di6_Pick_up_two_cubes_place_into_two_baskets/meta/info.json +181 -0
- 1500case/dataset/di6_Pick_up_two_cubes_place_into_two_baskets/meta/stats.json +273 -0
- 1500case/dataset/di6_Pick_up_two_cubes_place_into_two_baskets/meta/tasks.jsonl +1 -0
- 1500case/dataset/di7_Place_objects_except_the_red_block_into_basket/meta/episodes.jsonl +100 -0
- 1500case/dataset/di7_Place_objects_except_the_red_block_into_basket/meta/info.json +181 -0
- 1500case/dataset/di7_Place_objects_except_the_red_block_into_basket/meta/tasks.jsonl +1 -0
- 1500case/dataset/dm1_Pick_the_basket_and_put_the_cube_into_the_basket/meta/episodes.jsonl +100 -0
- 1500case/dataset/dm1_Pick_the_basket_and_put_the_cube_into_the_basket/meta/episodes_stats.jsonl +0 -0
- 1500case/dataset/dm1_Pick_the_basket_and_put_the_cube_into_the_basket/meta/info.json +181 -0
- 1500case/dataset/dm1_Pick_the_basket_and_put_the_cube_into_the_basket/meta/stats.json +273 -0
- 1500case/dataset/dm1_Pick_the_basket_and_put_the_cube_into_the_basket/meta/tasks.jsonl +1 -0
- 1500case/dataset/dm2_Put_the_ball_in_the_basket/meta/episodes.jsonl +100 -0
- 1500case/dataset/dm2_Put_the_ball_in_the_basket/meta/stats.json +273 -0
- 1500case/dataset/dm4_Push_two_cubes_into_the_marked_area/meta/tasks.jsonl +1 -0
- 1500case/dataset/dm6_Open_drawer_put_block_into_drawer_close_drawer/meta/tasks.jsonl +1 -0
- 1500case/dataset/dm7_Stack_two_blocks_in_target_position/meta/episodes.jsonl +100 -0
- 1500case/dataset/dm7_Stack_two_blocks_in_target_position/meta/episodes_stats.jsonl +0 -0
- 1500case/dataset/dm7_Stack_two_blocks_in_target_position/meta/info.json +181 -0
- 1500case/dataset/dm7_Stack_two_blocks_in_target_position/meta/stats.json +273 -0
- 1500case/dataset/dm7_Stack_two_blocks_in_target_position/meta/tasks.jsonl +1 -0
- 1500case/dataset_manifest.original.json +0 -0
- README.md +17 -1
1500case/asset_registry.json
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| 1 |
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{
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"schema": "rssr.engineered_asset_registry.v1",
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"tasks": {
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"di1": {
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| 5 |
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"path": "/pfs/yichen/RSSR/data/1500case/assetsdi1/v0001",
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| 6 |
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"manifest_sha256": "7ab72dd7a68bfbe40dc42172ef3c44a6d4ef4d5c9042209bbe296ed127f26238",
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"status": "modeled_pending_physical_validation"
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| 8 |
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},
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| 9 |
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"di2": {
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"path": "/pfs/yichen/RSSR/data/1500case/assetsdi2/v0001",
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| 11 |
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"manifest_sha256": "2e35b7e0b891e9ea19f514fa5ac40214c7e2c7e855e7bd5dd57467fdce6ff536",
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| 12 |
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"status": "modeled_pending_physical_validation"
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| 13 |
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},
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| 14 |
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"di3": {
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"path": "/pfs/yichen/RSSR/data/1500case/assetsdi3/v0001",
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"manifest_sha256": "b899222c3a755ea5594ec7a1c19b42b3c1e715b50c77beac31774cd74adc32b9",
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"status": "modeled_pending_physical_validation"
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| 18 |
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},
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| 19 |
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"di4": {
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"path": "/pfs/yichen/RSSR/data/1500case/assetsdi4/v0001",
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"manifest_sha256": "9df9857e905e7f077b1e546f0a6c1f7987429008b1cef56c70169d96c74ed13a",
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"status": "modeled_pending_physical_validation"
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| 23 |
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},
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| 24 |
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"di5": {
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"path": "/pfs/yichen/RSSR/data/1500case/assetsdi5/v0001",
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"manifest_sha256": "66ccbc9ccc16e85abf21a1dc33feda5d725a1323bf045ae02662b18af35038c5",
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"status": "modeled_pending_physical_validation"
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},
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"di6": {
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"path": "/pfs/yichen/RSSR/data/1500case/assetsdi6/v0001",
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"manifest_sha256": "7b348deb3bf4241f7b460ae5b99c3c4337f64c495c2eb73f62475a028d274919",
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"status": "modeled_pending_physical_validation"
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},
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"di7": {
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"path": "/pfs/yichen/RSSR/data/1500case/assetsdi7/v0001",
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| 36 |
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"manifest_sha256": "39008af0061d88719ce264103937955a404012184c15b1fafc5f24f3d51d61b7",
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| 37 |
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"status": "modeled_pending_physical_validation"
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| 38 |
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},
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| 39 |
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"dm1": {
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"path": "/pfs/yichen/RSSR/data/1500case/assetsdm1/v0001",
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"manifest_sha256": "89eac8b86df1989af3242ed5a5139ec77ef265c2ad2bab39f627fe4e5bf4a634",
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"status": "modeled_pending_physical_validation"
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| 43 |
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},
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"dm2": {
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"path": "/pfs/yichen/RSSR/data/1500case/assetsdm2/v0001",
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"manifest_sha256": "665378cbe1e52699cfe2dda1afab5389c3f64a86a879aa58f9558f63dac34942",
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"status": "modeled_pending_physical_validation"
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| 48 |
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},
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"dm3": {
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"path": "/pfs/yichen/RSSR/data/1500case/assetsdm3/v0001",
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| 51 |
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"manifest_sha256": "d19c329e808f09237e7703160b8324358d06753faf942078f4ee3ed9eae48a9e",
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| 52 |
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"status": "modeled_pending_physical_validation"
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| 53 |
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},
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| 54 |
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"dm4": {
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| 55 |
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"path": "/pfs/yichen/RSSR/data/1500case/assetsdm4/v0001",
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| 56 |
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"manifest_sha256": "c6d47aad55b6c4c2b4fa882288404a4572675d7778c59168e1fdbedc1483f6f8",
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| 57 |
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"status": "modeled_pending_physical_validation"
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| 58 |
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},
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| 59 |
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"dm5": {
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| 60 |
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"path": "/pfs/yichen/RSSR/data/1500case/assetsdm5/v0001",
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| 61 |
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"manifest_sha256": "15c6c16e97702e2f6e2329823f68869a7ad97488388bbaf7c5841feed516d5af",
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| 62 |
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"status": "modeled_pending_physical_validation"
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| 63 |
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},
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| 64 |
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"dm6": {
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"path": "/pfs/yichen/RSSR/data/1500case/assetsdm6/v0001",
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| 66 |
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"manifest_sha256": "03b1f938a10e830c53cfaa3b812d128af14ce388ee9b26e9dae6b52127852a87",
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| 67 |
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"status": "modeled_pending_physical_validation"
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| 68 |
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},
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| 69 |
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"dm7": {
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| 70 |
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"path": "/pfs/yichen/RSSR/data/1500case/assetsdm7/v0001",
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| 71 |
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"manifest_sha256": "bb169225a87f0d6a4ca8aed2661b057e0a45d8bae151d68165bcb9d94cf9b8af",
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| 72 |
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"status": "modeled_pending_physical_validation"
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| 73 |
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},
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| 74 |
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"dm8": {
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| 75 |
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"path": "/pfs/yichen/RSSR/data/1500case/assetsdm8/v0001",
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| 76 |
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"manifest_sha256": "a19f2061f883b826edb3be56d2abcecfbb5c0ca4152779d23501307fa92136a8",
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| 77 |
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"status": "modeled_pending_physical_validation"
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| 78 |
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}
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| 79 |
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},
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| 80 |
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"task_count": 15,
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| 81 |
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"parent_registry_sha256": "30f76e65f98109b6208e9cb7eb19f55e127284a9b4ab170024bb8b65b2a98729",
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| 82 |
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"collision_revision": "equivalent_convex_worktable_v1",
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| 83 |
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"contact_model_revision": "round_analytic_table_dispatch_v1",
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"layout_initialization_revision": "source_action_layout_v1"
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}
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1500case/asset_registry.original.json
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| 1 |
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{
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| 2 |
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"schema": "rssr.engineered_asset_registry.v1",
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| 3 |
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"tasks": {
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| 4 |
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"di1": {
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| 5 |
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"path": "/pfs/yichen/RSSR/sim1_assets/di1/v0001",
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| 6 |
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"manifest_sha256": "7ab72dd7a68bfbe40dc42172ef3c44a6d4ef4d5c9042209bbe296ed127f26238",
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| 7 |
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"status": "modeled_pending_physical_validation"
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| 8 |
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},
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| 9 |
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"di2": {
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| 10 |
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"path": "/pfs/yichen/RSSR/sim1_assets/di2/v0001",
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| 11 |
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"manifest_sha256": "2e35b7e0b891e9ea19f514fa5ac40214c7e2c7e855e7bd5dd57467fdce6ff536",
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| 12 |
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"status": "modeled_pending_physical_validation"
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| 13 |
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},
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| 14 |
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"di3": {
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| 15 |
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"path": "/pfs/yichen/RSSR/sim1_assets/di3/v0001",
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| 16 |
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"manifest_sha256": "b899222c3a755ea5594ec7a1c19b42b3c1e715b50c77beac31774cd74adc32b9",
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| 17 |
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"status": "modeled_pending_physical_validation"
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| 18 |
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},
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| 19 |
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"di4": {
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| 20 |
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"path": "/pfs/yichen/RSSR/sim1_assets/di4/v0001",
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| 21 |
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"manifest_sha256": "9df9857e905e7f077b1e546f0a6c1f7987429008b1cef56c70169d96c74ed13a",
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| 22 |
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"status": "modeled_pending_physical_validation"
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| 23 |
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},
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| 24 |
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"di5": {
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| 25 |
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"path": "/pfs/yichen/RSSR/sim1_assets/di5/v0001",
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| 26 |
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"manifest_sha256": "66ccbc9ccc16e85abf21a1dc33feda5d725a1323bf045ae02662b18af35038c5",
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| 27 |
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"status": "modeled_pending_physical_validation"
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| 28 |
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},
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| 29 |
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"di6": {
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| 30 |
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"path": "/pfs/yichen/RSSR/sim1_assets/di6/v0001",
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| 31 |
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"manifest_sha256": "7b348deb3bf4241f7b460ae5b99c3c4337f64c495c2eb73f62475a028d274919",
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| 32 |
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"status": "modeled_pending_physical_validation"
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| 33 |
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},
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| 34 |
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"di7": {
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| 35 |
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"path": "/pfs/yichen/RSSR/sim1_assets/di7/v0001",
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| 36 |
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"manifest_sha256": "39008af0061d88719ce264103937955a404012184c15b1fafc5f24f3d51d61b7",
|
| 37 |
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"status": "modeled_pending_physical_validation"
|
| 38 |
+
},
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| 39 |
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"dm1": {
|
| 40 |
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"path": "/pfs/yichen/RSSR/sim1_assets/dm1/v0001",
|
| 41 |
+
"manifest_sha256": "89eac8b86df1989af3242ed5a5139ec77ef265c2ad2bab39f627fe4e5bf4a634",
|
| 42 |
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"status": "modeled_pending_physical_validation"
|
| 43 |
+
},
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| 44 |
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"dm2": {
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| 45 |
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"path": "/pfs/yichen/RSSR/sim1_assets/dm2/v0001",
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| 46 |
+
"manifest_sha256": "665378cbe1e52699cfe2dda1afab5389c3f64a86a879aa58f9558f63dac34942",
|
| 47 |
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"status": "modeled_pending_physical_validation"
|
| 48 |
+
},
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| 49 |
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"dm3": {
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| 50 |
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"path": "/pfs/yichen/RSSR/sim1_assets/dm3/v0001",
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| 51 |
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"manifest_sha256": "d19c329e808f09237e7703160b8324358d06753faf942078f4ee3ed9eae48a9e",
|
| 52 |
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"status": "modeled_pending_physical_validation"
|
| 53 |
+
},
|
| 54 |
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"dm4": {
|
| 55 |
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"path": "/pfs/yichen/RSSR/sim1_assets/dm4/v0001",
|
| 56 |
+
"manifest_sha256": "c6d47aad55b6c4c2b4fa882288404a4572675d7778c59168e1fdbedc1483f6f8",
|
| 57 |
+
"status": "modeled_pending_physical_validation"
|
| 58 |
+
},
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| 59 |
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"dm5": {
|
| 60 |
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"path": "/pfs/yichen/RSSR/sim1_assets/dm5/v0001",
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| 61 |
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"manifest_sha256": "15c6c16e97702e2f6e2329823f68869a7ad97488388bbaf7c5841feed516d5af",
|
| 62 |
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"status": "modeled_pending_physical_validation"
|
| 63 |
+
},
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| 64 |
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"dm6": {
|
| 65 |
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"path": "/pfs/yichen/RSSR/sim1_assets/dm6/v0001",
|
| 66 |
+
"manifest_sha256": "03b1f938a10e830c53cfaa3b812d128af14ce388ee9b26e9dae6b52127852a87",
|
| 67 |
+
"status": "modeled_pending_physical_validation"
|
| 68 |
+
},
|
| 69 |
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"dm7": {
|
| 70 |
+
"path": "/pfs/yichen/RSSR/sim1_assets/dm7/v0001",
|
| 71 |
+
"manifest_sha256": "bb169225a87f0d6a4ca8aed2661b057e0a45d8bae151d68165bcb9d94cf9b8af",
|
| 72 |
+
"status": "modeled_pending_physical_validation"
|
| 73 |
+
},
|
| 74 |
+
"dm8": {
|
| 75 |
+
"path": "/pfs/yichen/RSSR/sim1_assets/dm8/v0001",
|
| 76 |
+
"manifest_sha256": "a19f2061f883b826edb3be56d2abcecfbb5c0ca4152779d23501307fa92136a8",
|
| 77 |
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"status": "modeled_pending_physical_validation"
|
| 78 |
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}
|
| 79 |
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},
|
| 80 |
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"task_count": 15,
|
| 81 |
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"parent_registry_sha256": "30f76e65f98109b6208e9cb7eb19f55e127284a9b4ab170024bb8b65b2a98729",
|
| 82 |
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"collision_revision": "equivalent_convex_worktable_v1",
|
| 83 |
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"contact_model_revision": "round_analytic_table_dispatch_v1",
|
| 84 |
+
"layout_initialization_revision": "source_action_layout_v1"
|
| 85 |
+
}
|
1500case/assets/di5/v0001/manifest.json
ADDED
|
@@ -0,0 +1,14 @@
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema": "rssr.engineered_task_asset.v1",
|
| 3 |
+
"task_id": "di5",
|
| 4 |
+
"version": "v0001",
|
| 5 |
+
"files": {
|
| 6 |
+
"definition.json": "cad86635381958ccb71f19717fc6c33d17e00eb49e70b198aa33f8303b0ee166"
|
| 7 |
+
},
|
| 8 |
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"authoring": "human_engineered; not learned experiences",
|
| 9 |
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"status": "modeled_pending_physical_validation",
|
| 10 |
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"collision_revision": "equivalent_convex_worktable_v1",
|
| 11 |
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"parent_manifest_sha256": "81f56797ee8efde31132a9132e8aa58b041e521f73119758d8e62c48a7118be5",
|
| 12 |
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"contact_model_revision": "round_analytic_table_dispatch_v1",
|
| 13 |
+
"layout_initialization_revision": "source_action_layout_v1"
|
| 14 |
+
}
|
1500case/assets/dm2/v0001/definition.json
ADDED
|
@@ -0,0 +1,135 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
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|
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|
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|
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|
|
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|
|
| 1 |
+
{
|
| 2 |
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"schema": "rssr.engineered_task_asset.v1",
|
| 3 |
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"scene": {
|
| 4 |
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"schema": "rssr.scene.v2",
|
| 5 |
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"task_id": "dm2",
|
| 6 |
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"objects": [
|
| 7 |
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{
|
| 8 |
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"id": "basket",
|
| 9 |
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"shape": "open_box",
|
| 10 |
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"role": "container",
|
| 11 |
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"color": "brown",
|
| 12 |
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|
| 13 |
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| 14 |
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|
| 15 |
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| 16 |
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],
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"size_m": [
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| 18 |
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| 20 |
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| 21 |
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],
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| 22 |
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|
| 23 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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],
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| 29 |
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"mobility": "free",
|
| 30 |
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|
| 31 |
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"support_id": "table",
|
| 32 |
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"head_center": [
|
| 33 |
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0.422,
|
| 34 |
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|
| 35 |
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],
|
| 36 |
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"evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
|
| 37 |
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|
| 38 |
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"mass_kg": 0.12
|
| 39 |
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},
|
| 40 |
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{
|
| 41 |
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"id": "green_ball",
|
| 42 |
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"shape": "sphere",
|
| 43 |
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"role": "object",
|
| 44 |
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"color": "green",
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| 45 |
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|
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| 62 |
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| 64 |
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| 65 |
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| 66 |
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| 67 |
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|
| 68 |
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],
|
| 69 |
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"evidence": "Explicit engineered prototype from observed Real1 identity and source FK; approximate geometry, not metric reconstruction.",
|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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"bindings": {
|
| 74 |
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"targets": [
|
| 75 |
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|
| 76 |
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|
| 77 |
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| 78 |
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"basket"
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],
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| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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},
|
| 86 |
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"anchors": [
|
| 87 |
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{
|
| 88 |
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"object": "basket",
|
| 89 |
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"hand": "left",
|
| 90 |
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"mode": "basket_wall"
|
| 91 |
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},
|
| 92 |
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{
|
| 93 |
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"object": "green_ball",
|
| 94 |
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"hand": "right",
|
| 95 |
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"mode": "center"
|
| 96 |
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}
|
| 97 |
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],
|
| 98 |
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| 99 |
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|
| 100 |
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},
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| 102 |
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|
| 103 |
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|
| 104 |
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"worktable": "convex"
|
| 105 |
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},
|
| 106 |
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"release_goals": [],
|
| 107 |
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"engineering_changes": [
|
| 108 |
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"Flared finite-thickness basket; rim, not body centre, is the left grasp anchor."
|
| 109 |
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],
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| 110 |
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| 111 |
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|
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"yaw_rad",
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|
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|
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|
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"source_case": "/pfs/yichen/r2r/results/rssr_gpt56_v17_canary6_20260917/cases/dm2_ep000000",
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|
| 135 |
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|
1500case/assets/dm2/v0001/manifest.json
ADDED
|
@@ -0,0 +1,14 @@
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| 1 |
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{
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"schema": "rssr.engineered_task_asset.v1",
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| 3 |
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|
| 14 |
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1500case/assets/dm7/v0001/manifest.json
ADDED
|
@@ -0,0 +1,14 @@
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| 1 |
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{
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| 2 |
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"schema": "rssr.engineered_task_asset.v1",
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| 3 |
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"task_id": "dm7",
|
| 4 |
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"version": "v0001",
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| 5 |
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"files": {
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| 6 |
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| 7 |
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},
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| 8 |
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"authoring": "human_engineered; not learned experiences",
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| 9 |
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"status": "modeled_pending_physical_validation",
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|
| 13 |
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"layout_initialization_revision": "source_action_layout_v1"
|
| 14 |
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}
|
1500case/assets/dm8/v0001/manifest.json
ADDED
|
@@ -0,0 +1,14 @@
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| 1 |
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{
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| 2 |
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"schema": "rssr.engineered_task_asset.v1",
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| 3 |
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"task_id": "dm8",
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| 4 |
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"version": "v0001",
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| 5 |
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"files": {
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"definition.json": "7bfecb42447bb79f185c91df7ff7da617bfcc1eef2b69552f8f48327ccf1c186"
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"authoring": "human_engineered; not learned experiences",
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| 9 |
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|
| 13 |
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"layout_initialization_revision": "source_action_layout_v1"
|
| 14 |
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}
|
1500case/dataset/.gitattributes
ADDED
|
@@ -0,0 +1,60 @@
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|
| 1 |
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*.7z filter=lfs diff=lfs merge=lfs -text
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| 2 |
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*.arrow filter=lfs diff=lfs merge=lfs -text
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*.bin filter=lfs diff=lfs merge=lfs -text
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*.bz2 filter=lfs diff=lfs merge=lfs -text
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*.ckpt filter=lfs diff=lfs merge=lfs -text
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*.ftz filter=lfs diff=lfs merge=lfs -text
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| 8 |
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*.gz filter=lfs diff=lfs merge=lfs -text
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*.h5 filter=lfs diff=lfs merge=lfs -text
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*.joblib filter=lfs diff=lfs merge=lfs -text
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*.lfs.* filter=lfs diff=lfs merge=lfs -text
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| 12 |
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*.mds filter=lfs diff=lfs merge=lfs -text
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| 14 |
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*.mlmodel filter=lfs diff=lfs merge=lfs -text
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| 15 |
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*.model filter=lfs diff=lfs merge=lfs -text
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*.npy filter=lfs diff=lfs merge=lfs -text
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| 18 |
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*.npz filter=lfs diff=lfs merge=lfs -text
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| 19 |
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| 20 |
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*.ot filter=lfs diff=lfs merge=lfs -text
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| 21 |
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*.parquet filter=lfs diff=lfs merge=lfs -text
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| 22 |
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*.pb filter=lfs diff=lfs merge=lfs -text
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| 23 |
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*.pickle filter=lfs diff=lfs merge=lfs -text
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| 24 |
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*.pkl filter=lfs diff=lfs merge=lfs -text
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| 25 |
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*.pt filter=lfs diff=lfs merge=lfs -text
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| 26 |
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*.pth filter=lfs diff=lfs merge=lfs -text
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| 27 |
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*.rar filter=lfs diff=lfs merge=lfs -text
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| 28 |
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*.safetensors filter=lfs diff=lfs merge=lfs -text
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| 29 |
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saved_model/**/* filter=lfs diff=lfs merge=lfs -text
|
| 30 |
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*.tar.* filter=lfs diff=lfs merge=lfs -text
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| 31 |
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*.tar filter=lfs diff=lfs merge=lfs -text
|
| 32 |
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*.tflite filter=lfs diff=lfs merge=lfs -text
|
| 33 |
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*.tgz filter=lfs diff=lfs merge=lfs -text
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| 34 |
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*.wasm filter=lfs diff=lfs merge=lfs -text
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| 35 |
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*.xz filter=lfs diff=lfs merge=lfs -text
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| 36 |
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*.zip filter=lfs diff=lfs merge=lfs -text
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| 37 |
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*.zst filter=lfs diff=lfs merge=lfs -text
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| 38 |
+
*tfevents* filter=lfs diff=lfs merge=lfs -text
|
| 39 |
+
# Audio files - uncompressed
|
| 40 |
+
*.pcm filter=lfs diff=lfs merge=lfs -text
|
| 41 |
+
*.sam filter=lfs diff=lfs merge=lfs -text
|
| 42 |
+
*.raw filter=lfs diff=lfs merge=lfs -text
|
| 43 |
+
# Audio files - compressed
|
| 44 |
+
*.aac filter=lfs diff=lfs merge=lfs -text
|
| 45 |
+
*.flac filter=lfs diff=lfs merge=lfs -text
|
| 46 |
+
*.mp3 filter=lfs diff=lfs merge=lfs -text
|
| 47 |
+
*.ogg filter=lfs diff=lfs merge=lfs -text
|
| 48 |
+
*.wav filter=lfs diff=lfs merge=lfs -text
|
| 49 |
+
# Image files - uncompressed
|
| 50 |
+
*.bmp filter=lfs diff=lfs merge=lfs -text
|
| 51 |
+
*.gif filter=lfs diff=lfs merge=lfs -text
|
| 52 |
+
*.png filter=lfs diff=lfs merge=lfs -text
|
| 53 |
+
*.tiff filter=lfs diff=lfs merge=lfs -text
|
| 54 |
+
# Image files - compressed
|
| 55 |
+
*.jpg filter=lfs diff=lfs merge=lfs -text
|
| 56 |
+
*.jpeg filter=lfs diff=lfs merge=lfs -text
|
| 57 |
+
*.webp filter=lfs diff=lfs merge=lfs -text
|
| 58 |
+
# Video files - compressed
|
| 59 |
+
*.mp4 filter=lfs diff=lfs merge=lfs -text
|
| 60 |
+
*.webm filter=lfs diff=lfs merge=lfs -text
|
1500case/dataset/README.md
ADDED
|
@@ -0,0 +1,155 @@
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|
| 1 |
+
---
|
| 2 |
+
license: apache-2.0
|
| 3 |
+
task_categories:
|
| 4 |
+
- robotics
|
| 5 |
+
tags:
|
| 6 |
+
- robotics
|
| 7 |
+
- manipulation
|
| 8 |
+
- cobot-magic
|
| 9 |
+
- dual-arm
|
| 10 |
+
- lerobot
|
| 11 |
+
- atombench
|
| 12 |
+
pretty_name: AtomBench CobotMagic
|
| 13 |
+
size_categories:
|
| 14 |
+
- 1K<n<10K
|
| 15 |
+
---
|
| 16 |
+
|
| 17 |
+
# AtomBench CobotMagic Dataset
|
| 18 |
+
|
| 19 |
+
A dual-arm robot manipulation dataset collected on a **Cobot Magic** robot platform, designed for evaluating robotic learning policies. The dataset contains 15 tasks (8 manipulation tasks + 7 instruction-following tasks), each with 100 expert demonstration episodes.
|
| 20 |
+
|
| 21 |
+
## Dataset Summary
|
| 22 |
+
|
| 23 |
+
| Item | Value |
|
| 24 |
+
|------|-------|
|
| 25 |
+
| Robot | Cobot Magic (Dual-arm) |
|
| 26 |
+
| Total Tasks | 15 |
|
| 27 |
+
| Episodes per Task | 100 |
|
| 28 |
+
| Total Episodes | 1,500 |
|
| 29 |
+
| FPS | 30 |
|
| 30 |
+
| Camera Views | 3 (top, left, right) |
|
| 31 |
+
| Video Resolution | 640×480 |
|
| 32 |
+
| Video Codec | H.264 (libx264) |
|
| 33 |
+
| Data Format | LeRobot v2.1 |
|
| 34 |
+
|
| 35 |
+
## Tasks
|
| 36 |
+
|
| 37 |
+
### Manipulation Tasks (dm1–dm8)
|
| 38 |
+
|
| 39 |
+
| ID | Task Prompt |
|
| 40 |
+
|----|-------------|
|
| 41 |
+
| dm1 | Pick up the basket with the left hand and place the cube into the basket with the right hand. |
|
| 42 |
+
| dm2 | Pick up the basket with the left hand and place the ball into the basket with the right hand. |
|
| 43 |
+
| dm3 | Place the bottles upright on the tray. |
|
| 44 |
+
| dm4 | Push the two cubes into the marked area. |
|
| 45 |
+
| dm5 | Pick up the bowl with the left hand and pour the coffee beans from the cup into the bowl with the right hand. |
|
| 46 |
+
| dm6 | Open the drawer with the left hand, place the block into the drawer with the right hand, then close the drawer with the left hand. |
|
| 47 |
+
| dm7 | Pick up one cube with the left hand and another cube with the right hand. First place the cube in the right hand at the target position, then stack the cube in the left hand on top. |
|
| 48 |
+
| dm8 | Open the box lid with the left hand, place the block into the box with the right hand, then close the box lid with the left hand. |
|
| 49 |
+
|
| 50 |
+
### Instruction-Following Tasks (di1–di7)
|
| 51 |
+
|
| 52 |
+
| ID | Task Prompt |
|
| 53 |
+
|----|-------------|
|
| 54 |
+
| di1 | Pick up the basket with the left hand and place the blue cube into the basket with the right hand. |
|
| 55 |
+
| di2 | Pick up the basket with the left hand and place the triangular block into the basket with the right hand. |
|
| 56 |
+
| di3 | Pick up the basket with the left hand and place the largest block into the basket with the right hand. |
|
| 57 |
+
| di4 | Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand. |
|
| 58 |
+
| di5 | Pick up one cube with each hand and place exactly two cubes into the same basket, leaving the remaining cube outside. |
|
| 59 |
+
| di6 | Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket. |
|
| 60 |
+
| di7 | Place all geometric objects except the red cube into the basket. |
|
| 61 |
+
|
| 62 |
+
## Dataset Structure
|
| 63 |
+
|
| 64 |
+
```
|
| 65 |
+
agilex/
|
| 66 |
+
├── README.md
|
| 67 |
+
├── {task_name}/
|
| 68 |
+
│ ├── meta/
|
| 69 |
+
│ │ ├── info.json # Dataset metadata
|
| 70 |
+
│ │ ├── episodes.jsonl # Episode metadata
|
| 71 |
+
│ │ └── tasks.jsonl # Task descriptions
|
| 72 |
+
│ ├── data/
|
| 73 |
+
│ │ └── chunk-000/
|
| 74 |
+
│ │ ├── episode_000000.parquet
|
| 75 |
+
│ │ ├── episode_000001.parquet
|
| 76 |
+
│ │ └── ...
|
| 77 |
+
│ └── videos/
|
| 78 |
+
│ └── chunk-000/
|
| 79 |
+
│ ├── image_top/
|
| 80 |
+
│ │ ├── episode_000000.mp4
|
| 81 |
+
│ │ └── ...
|
| 82 |
+
│ ├── image_left/
|
| 83 |
+
│ │ ├── episode_000000.mp4
|
| 84 |
+
│ │ └── ...
|
| 85 |
+
│ └── image_right/
|
| 86 |
+
│ ├── episode_000000.mp4
|
| 87 |
+
│ └── ...
|
| 88 |
+
└── ...
|
| 89 |
+
```
|
| 90 |
+
|
| 91 |
+
## Features
|
| 92 |
+
|
| 93 |
+
Each episode frame contains:
|
| 94 |
+
|
| 95 |
+
| Feature | Type | Shape | Description |
|
| 96 |
+
|---------|------|-------|-------------|
|
| 97 |
+
| `action` | float32 | (14,) | Leader joint positions (right arm + left arm) |
|
| 98 |
+
| `observation.state` | float32 | (26,) | Follower joint positions + end-effector poses (both arms) |
|
| 99 |
+
| `observation.images.image_top` | video | (480, 640, 3) | Top camera view |
|
| 100 |
+
| `observation.images.image_left` | video | (480, 640, 3) | Left camera view |
|
| 101 |
+
| `observation.images.image_right` | video | (480, 640, 3) | Right camera view |
|
| 102 |
+
| `timestamp` | float32 | (1,) | Frame timestamp |
|
| 103 |
+
| `frame_index` | int64 | (1,) | Frame index within episode |
|
| 104 |
+
| `episode_index` | int64 | (1,) | Episode index |
|
| 105 |
+
| `index` | int64 | (1,) | Global frame index |
|
| 106 |
+
| `task_index` | int64 | (1,) | Task index |
|
| 107 |
+
|
| 108 |
+
### Action Space (14-dim)
|
| 109 |
+
|
| 110 |
+
| Dim | Name |
|
| 111 |
+
|-----|------|
|
| 112 |
+
| 0–5 | Right arm joint positions (6 DoF) |
|
| 113 |
+
| 6 | Right gripper position |
|
| 114 |
+
| 7–12 | Left arm joint positions (6 DoF) |
|
| 115 |
+
| 13 | Left gripper position |
|
| 116 |
+
|
| 117 |
+
### Observation State Space (26-dim)
|
| 118 |
+
|
| 119 |
+
| Dim | Name |
|
| 120 |
+
|-----|------|
|
| 121 |
+
| 0–5 | Right arm joint positions (6 DoF) |
|
| 122 |
+
| 6 | Right gripper position |
|
| 123 |
+
| 7–12 | Right end-effector pose (x, y, z, rx, ry, rz) |
|
| 124 |
+
| 13–18 | Left arm joint positions (6 DoF) |
|
| 125 |
+
| 19 | Left gripper position |
|
| 126 |
+
| 20–25 | Left end-effector pose (x, y, z, rx, ry, rz) |
|
| 127 |
+
|
| 128 |
+
## Usage
|
| 129 |
+
|
| 130 |
+
```python
|
| 131 |
+
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
|
| 132 |
+
|
| 133 |
+
dataset = LeRobotDataset(
|
| 134 |
+
repo_id="AtomBench/CobotMagic",
|
| 135 |
+
root="path/to/local/cobotmagic",
|
| 136 |
+
)
|
| 137 |
+
```
|
| 138 |
+
|
| 139 |
+
## Citation
|
| 140 |
+
|
| 141 |
+
If you use this dataset in your research, please cite:
|
| 142 |
+
|
| 143 |
+
```bibtex
|
| 144 |
+
@misc{atombench,
|
| 145 |
+
author = {AtomBench Team},
|
| 146 |
+
title = {AtomBench CobotMagic: A Dual-Arm Robot Manipulation Dataset},
|
| 147 |
+
year = {2026},
|
| 148 |
+
publisher = {Hugging Face},
|
| 149 |
+
howpublished = {\url{https://huggingface.co/AtomBench}}
|
| 150 |
+
}
|
| 151 |
+
```
|
| 152 |
+
|
| 153 |
+
## License
|
| 154 |
+
|
| 155 |
+
This dataset is released under the [Apache 2.0 License](https://www.apache.org/licenses/LICENSE-2.0).
|
1500case/dataset/di1_Pick_up_basket_place_blue_block_into_basket/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,100 @@
|
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|
|
|
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|
|
|
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|
|
|
|
|
| 1 |
+
{"episode_index": 0, "length": 752, "tasks": ["Pick up the basket with the left hand and place the blue cube into the basket with the right hand."], "video_from_index": 0, "video_to_index": 752, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 0, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 0, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 0}
|
| 2 |
+
{"episode_index": 1, "length": 803, "tasks": ["Pick up the basket with the left hand and place the blue cube into the basket with the right hand."], "video_from_index": 0, "video_to_index": 803, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 1, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 1, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 1}
|
| 3 |
+
{"episode_index": 2, "length": 634, "tasks": ["Pick up the basket with the left hand and place the blue cube into the basket with the right hand."], "video_from_index": 0, "video_to_index": 634, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 2, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 2, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 2}
|
| 4 |
+
{"episode_index": 3, "length": 787, "tasks": ["Pick up the basket with the left hand and place the blue cube into the basket with the right hand."], "video_from_index": 0, "video_to_index": 787, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 3, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 3, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 3}
|
| 5 |
+
{"episode_index": 4, "length": 724, "tasks": ["Pick up the basket with the left hand and place the blue cube into the basket with the right hand."], "video_from_index": 0, "video_to_index": 724, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 4, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 4, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 4}
|
| 6 |
+
{"episode_index": 5, "length": 774, "tasks": ["Pick up the basket with the left hand and place the blue cube into the basket with the right hand."], "video_from_index": 0, "video_to_index": 774, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 5, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 5, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 5}
|
| 7 |
+
{"episode_index": 6, "length": 636, "tasks": ["Pick up the basket with the left hand and place the blue cube into the basket with the right hand."], "video_from_index": 0, "video_to_index": 636, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 6, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 6, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 6}
|
| 8 |
+
{"episode_index": 7, "length": 615, "tasks": ["Pick up the basket with the left hand and place the blue cube into the basket with the right hand."], "video_from_index": 0, "video_to_index": 615, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 7, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 7, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 7}
|
| 9 |
+
{"episode_index": 8, "length": 625, "tasks": ["Pick up the basket with the left hand and place the blue cube into the basket with the right hand."], "video_from_index": 0, "video_to_index": 625, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 8, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 8, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 8}
|
| 10 |
+
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|
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|
1500case/dataset/di1_Pick_up_basket_place_blue_block_into_basket/meta/stats.json
ADDED
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| 253 |
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| 255 |
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| 256 |
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"timestamp": {
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| 257 |
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"min": [
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| 258 |
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0.0
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| 259 |
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| 260 |
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| 261 |
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| 263 |
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| 264 |
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| 265 |
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| 272 |
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}
|
| 273 |
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}
|
1500case/dataset/di2_Pick_up_basket_put_triangular_block_intobasket/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,100 @@
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|
| 1 |
+
{"episode_index": 0, "length": 585, "tasks": ["Pick up the basket with the left hand and place the triangular block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 585, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 0, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 0, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 0}
|
| 2 |
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{"episode_index": 1, "length": 796, "tasks": ["Pick up the basket with the left hand and place the triangular block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 796, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 1, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 1, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 1}
|
| 3 |
+
{"episode_index": 2, "length": 821, "tasks": ["Pick up the basket with the left hand and place the triangular block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 821, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 2, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 2, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 2}
|
| 4 |
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{"episode_index": 3, "length": 719, "tasks": ["Pick up the basket with the left hand and place the triangular block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 719, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 3, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 3, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 3}
|
| 5 |
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{"episode_index": 4, "length": 782, "tasks": ["Pick up the basket with the left hand and place the triangular block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 782, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 4, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 4, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 4}
|
| 6 |
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{"episode_index": 5, "length": 765, "tasks": ["Pick up the basket with the left hand and place the triangular block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 765, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 5, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 5, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 5}
|
| 7 |
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{"episode_index": 6, "length": 690, "tasks": ["Pick up the basket with the left hand and place the triangular block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 690, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 6, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 6, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 6}
|
| 8 |
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{"episode_index": 7, "length": 800, "tasks": ["Pick up the basket with the left hand and place the triangular block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 800, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 7, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 7, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 7}
|
| 9 |
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{"episode_index": 8, "length": 676, "tasks": ["Pick up the basket with the left hand and place the triangular block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 676, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 8, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 8, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 8}
|
| 10 |
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{"episode_index": 9, "length": 762, "tasks": ["Pick up the basket with the left hand and place the triangular block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 762, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 9, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 9, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 9}
|
| 11 |
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{"episode_index": 10, "length": 861, "tasks": ["Pick up the basket with the left hand and place the triangular block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 861, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 10, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 10, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 10}
|
| 12 |
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{"episode_index": 11, "length": 719, "tasks": ["Pick up the basket with the left hand and place the triangular block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 719, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 11, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 11, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 11}
|
| 13 |
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{"episode_index": 12, "length": 802, "tasks": ["Pick up the basket with the left hand and place the triangular block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 802, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 12, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 12, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 12}
|
| 14 |
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{"episode_index": 13, "length": 847, "tasks": ["Pick up the basket with the left hand and place the triangular block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 847, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 13, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 13, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 13}
|
| 15 |
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{"episode_index": 14, "length": 799, "tasks": ["Pick up the basket with the left hand and place the triangular block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 799, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 14, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 14, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 14}
|
| 16 |
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{"episode_index": 15, "length": 832, "tasks": ["Pick up the basket with the left hand and place the triangular block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 832, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 15, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 15, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 15}
|
| 17 |
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{"episode_index": 16, "length": 750, "tasks": ["Pick up the basket with the left hand and place the triangular block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 750, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 16, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 16, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 16}
|
| 18 |
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{"episode_index": 17, "length": 885, "tasks": ["Pick up the basket with the left hand and place the triangular block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 885, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 17, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 17, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 17}
|
| 19 |
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{"episode_index": 18, "length": 819, "tasks": ["Pick up the basket with the left hand and place the triangular block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 819, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 18, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 18, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 18}
|
| 20 |
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{"episode_index": 19, "length": 666, "tasks": ["Pick up the basket with the left hand and place the triangular block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 666, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 19, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 19, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 19}
|
| 21 |
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{"episode_index": 20, "length": 754, "tasks": ["Pick up the basket with the left hand and place the triangular block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 754, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 20, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 20, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 20}
|
| 22 |
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{"episode_index": 21, "length": 726, "tasks": ["Pick up the basket with the left hand and place the triangular block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 726, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 21, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 21, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 21}
|
| 23 |
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{"episode_index": 22, "length": 722, "tasks": ["Pick up the basket with the left hand and place the triangular block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 722, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 22, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 22, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 22}
|
| 24 |
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|
| 25 |
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{"episode_index": 24, "length": 776, "tasks": ["Pick up the basket with the left hand and place the triangular block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 776, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 24, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 24, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 24}
|
| 26 |
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{"episode_index": 25, "length": 829, "tasks": ["Pick up the basket with the left hand and place the triangular block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 829, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 25, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 25, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 25}
|
| 27 |
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{"episode_index": 26, "length": 836, "tasks": ["Pick up the basket with the left hand and place the triangular block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 836, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 26, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 26, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 26}
|
| 28 |
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{"episode_index": 27, "length": 769, "tasks": ["Pick up the basket with the left hand and place the triangular block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 769, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 27, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 27, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 27}
|
| 29 |
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{"episode_index": 28, "length": 748, "tasks": ["Pick up the basket with the left hand and place the triangular block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 748, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 28, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 28, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 28}
|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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{"episode_index": 33, "length": 651, "tasks": ["Pick up the basket with the left hand and place the triangular block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 651, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 33, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 33, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 33}
|
| 35 |
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|
| 36 |
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{"episode_index": 35, "length": 802, "tasks": ["Pick up the basket with the left hand and place the triangular block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 802, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 35, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 35, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 35}
|
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|
| 82 |
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{"episode_index": 81, "length": 537, "tasks": ["Pick up the basket with the left hand and place the triangular block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 537, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 81, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 81, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 81}
|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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{"episode_index": 95, "length": 721, "tasks": ["Pick up the basket with the left hand and place the triangular block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 721, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 95, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 95, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 95}
|
| 97 |
+
{"episode_index": 96, "length": 522, "tasks": ["Pick up the basket with the left hand and place the triangular block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 522, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 96, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 96, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 96}
|
| 98 |
+
{"episode_index": 97, "length": 553, "tasks": ["Pick up the basket with the left hand and place the triangular block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 553, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 97, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 97, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 97}
|
| 99 |
+
{"episode_index": 98, "length": 434, "tasks": ["Pick up the basket with the left hand and place the triangular block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 434, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 98, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 98, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 98}
|
| 100 |
+
{"episode_index": 99, "length": 592, "tasks": ["Pick up the basket with the left hand and place the triangular block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 592, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 99, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 99, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 99}
|
1500case/dataset/di2_Pick_up_basket_put_triangular_block_intobasket/meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
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|
1500case/dataset/di2_Pick_up_basket_put_triangular_block_intobasket/meta/info.json
ADDED
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@@ -0,0 +1,181 @@
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|
| 1 |
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{
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| 2 |
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|
| 3 |
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|
| 4 |
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|
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|
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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| 14 |
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|
| 15 |
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|
| 16 |
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| 17 |
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| 19 |
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|
| 20 |
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| 21 |
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| 22 |
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| 23 |
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| 24 |
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| 25 |
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|
| 26 |
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| 27 |
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| 28 |
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| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 38 |
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| 39 |
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| 40 |
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| 41 |
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| 42 |
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| 43 |
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|
| 44 |
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| 46 |
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| 48 |
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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| 53 |
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| 54 |
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| 55 |
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| 56 |
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| 57 |
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| 58 |
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| 59 |
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| 60 |
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| 61 |
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| 62 |
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| 63 |
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| 64 |
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| 65 |
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|
| 66 |
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0.19262240329983998,
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| 241 |
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0.19760404436377724,
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0.37692851941577327,
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| 243 |
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0.3385903558339743,
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| 244 |
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0.19681784062030594,
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| 245 |
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0.7843531307809363,
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| 246 |
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0.35640878201728604,
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| 247 |
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0.35441204120542735,
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| 248 |
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0.21006332944581618,
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| 249 |
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0.2967190278371671,
|
| 250 |
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0.5126183230493906
|
| 251 |
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],
|
| 252 |
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"count": [
|
| 253 |
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65489
|
| 254 |
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]
|
| 255 |
+
},
|
| 256 |
+
"timestamp": {
|
| 257 |
+
"min": [
|
| 258 |
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0.0
|
| 259 |
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],
|
| 260 |
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"max": [
|
| 261 |
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|
| 262 |
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],
|
| 263 |
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"mean": [
|
| 264 |
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|
| 265 |
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],
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| 266 |
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"std": [
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| 267 |
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| 268 |
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| 269 |
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| 270 |
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|
| 271 |
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|
| 272 |
+
}
|
| 273 |
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}
|
1500case/dataset/di2_Pick_up_basket_put_triangular_block_intobasket/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "Pick up the basket with the left hand and place the triangular block into the basket with the right hand."}
|
1500case/dataset/di3_Pick_up_basket_place_largest_block_into_basket/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,100 @@
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|
|
|
|
|
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|
|
|
|
| 1 |
+
{"episode_index": 0, "length": 894, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 894, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 0, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 0, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 0}
|
| 2 |
+
{"episode_index": 1, "length": 830, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 830, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 1, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 1, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 1}
|
| 3 |
+
{"episode_index": 2, "length": 865, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 865, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 2, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 2, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 2}
|
| 4 |
+
{"episode_index": 3, "length": 936, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 936, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 3, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 3, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 3}
|
| 5 |
+
{"episode_index": 4, "length": 959, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 959, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 4, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 4, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 4}
|
| 6 |
+
{"episode_index": 5, "length": 943, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 943, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 5, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 5, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 5}
|
| 7 |
+
{"episode_index": 6, "length": 902, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 902, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 6, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 6, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 6}
|
| 8 |
+
{"episode_index": 7, "length": 954, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 954, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 7, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 7, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 7}
|
| 9 |
+
{"episode_index": 8, "length": 931, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 931, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 8, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 8, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 8}
|
| 10 |
+
{"episode_index": 9, "length": 845, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 845, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 9, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 9, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 9}
|
| 11 |
+
{"episode_index": 10, "length": 879, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 879, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 10, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 10, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 10}
|
| 12 |
+
{"episode_index": 11, "length": 977, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 977, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 11, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 11, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 11}
|
| 13 |
+
{"episode_index": 12, "length": 899, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 899, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 12, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 12, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 12}
|
| 14 |
+
{"episode_index": 13, "length": 911, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 911, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 13, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 13, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 13}
|
| 15 |
+
{"episode_index": 14, "length": 875, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 875, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 14, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 14, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 14}
|
| 16 |
+
{"episode_index": 15, "length": 1026, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1026, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 15, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 15, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 15}
|
| 17 |
+
{"episode_index": 16, "length": 902, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 902, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 16, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 16, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 16}
|
| 18 |
+
{"episode_index": 17, "length": 940, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 940, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 17, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 17, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 17}
|
| 19 |
+
{"episode_index": 18, "length": 931, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 931, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 18, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 18, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 18}
|
| 20 |
+
{"episode_index": 19, "length": 893, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 893, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 19, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 19, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 19}
|
| 21 |
+
{"episode_index": 20, "length": 894, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 894, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 20, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 20, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 20}
|
| 22 |
+
{"episode_index": 21, "length": 1011, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1011, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 21, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 21, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 21}
|
| 23 |
+
{"episode_index": 22, "length": 923, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 923, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 22, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 22, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 22}
|
| 24 |
+
{"episode_index": 23, "length": 975, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 975, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 23, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 23, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 23}
|
| 25 |
+
{"episode_index": 24, "length": 928, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 928, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 24, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 24, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 24}
|
| 26 |
+
{"episode_index": 25, "length": 940, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 940, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 25, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 25, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 25}
|
| 27 |
+
{"episode_index": 26, "length": 847, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 847, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 26, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 26, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 26}
|
| 28 |
+
{"episode_index": 27, "length": 832, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 832, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 27, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 27, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 27}
|
| 29 |
+
{"episode_index": 28, "length": 832, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 832, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 28, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 28, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 28}
|
| 30 |
+
{"episode_index": 29, "length": 938, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 938, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 29, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 29, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 29}
|
| 31 |
+
{"episode_index": 30, "length": 916, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 916, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 30, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 30, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 30}
|
| 32 |
+
{"episode_index": 31, "length": 899, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 899, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 31, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 31, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 31}
|
| 33 |
+
{"episode_index": 32, "length": 910, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 910, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 32, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 32, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 32}
|
| 34 |
+
{"episode_index": 33, "length": 815, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 815, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 33, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 33, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 33}
|
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+
{"episode_index": 78, "length": 939, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 939, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 78, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 78, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 78}
|
| 80 |
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{"episode_index": 79, "length": 1056, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1056, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 79, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 79, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 79}
|
| 81 |
+
{"episode_index": 80, "length": 1118, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1118, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 80, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 80, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 80}
|
| 82 |
+
{"episode_index": 81, "length": 973, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 973, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 81, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 81, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 81}
|
| 83 |
+
{"episode_index": 82, "length": 1119, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1119, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 82, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 82, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 82}
|
| 84 |
+
{"episode_index": 83, "length": 1233, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1233, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 83, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 83, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 83}
|
| 85 |
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{"episode_index": 84, "length": 1073, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1073, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 84, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 84, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 84}
|
| 86 |
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{"episode_index": 85, "length": 1008, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1008, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 85, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 85, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 85}
|
| 87 |
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{"episode_index": 86, "length": 930, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 930, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 86, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 86, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 86}
|
| 88 |
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{"episode_index": 87, "length": 1026, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1026, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 87, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 87, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 87}
|
| 89 |
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{"episode_index": 88, "length": 1040, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1040, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 88, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 88, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 88}
|
| 90 |
+
{"episode_index": 89, "length": 1067, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1067, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 89, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 89, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 89}
|
| 91 |
+
{"episode_index": 90, "length": 1053, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1053, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 90, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 90, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 90}
|
| 92 |
+
{"episode_index": 91, "length": 967, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 967, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 91, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 91, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 91}
|
| 93 |
+
{"episode_index": 92, "length": 1012, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1012, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 92, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 92, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 92}
|
| 94 |
+
{"episode_index": 93, "length": 962, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 962, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 93, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 93, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 93}
|
| 95 |
+
{"episode_index": 94, "length": 1043, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1043, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 94, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 94, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 94}
|
| 96 |
+
{"episode_index": 95, "length": 1054, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1054, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 95, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 95, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 95}
|
| 97 |
+
{"episode_index": 96, "length": 920, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 920, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 96, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 96, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 96}
|
| 98 |
+
{"episode_index": 97, "length": 894, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 894, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 0, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 0, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 0}
|
| 99 |
+
{"episode_index": 98, "length": 830, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 830, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 1, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 1, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 1}
|
| 100 |
+
{"episode_index": 99, "length": 865, "tasks": ["Pick up the basket with the left hand and place the largest block into the basket with the right hand."], "video_from_index": 0, "video_to_index": 865, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 2, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 2, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 2}
|
1500case/dataset/di3_Pick_up_basket_place_largest_block_into_basket/meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
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|
1500case/dataset/di3_Pick_up_basket_place_largest_block_into_basket/meta/info.json
ADDED
|
@@ -0,0 +1,181 @@
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|
| 1 |
+
{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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},
|
| 14 |
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 15 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 16 |
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"features": {
|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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"follower_joint4_left.pos",
|
| 59 |
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"follower_joint5_left.pos",
|
| 60 |
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"follower_joint6_left.pos",
|
| 61 |
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"follower_gripper_left.pos",
|
| 62 |
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|
| 63 |
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"follower_pose_left_y.pos",
|
| 64 |
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"follower_pose_left_z.pos",
|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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| 71 |
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|
| 72 |
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| 73 |
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|
| 74 |
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| 75 |
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| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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| 80 |
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|
| 81 |
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| 82 |
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| 83 |
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|
| 84 |
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| 86 |
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| 87 |
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|
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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}
|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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| 100 |
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|
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|
| 102 |
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| 103 |
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| 104 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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| 109 |
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|
| 110 |
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|
| 111 |
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| 112 |
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|
| 113 |
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0.08795812603509763,
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0.8525587856400291,
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0.8324471862343008,
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0.85482922289827,
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| 233 |
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0.2825517406676262,
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| 234 |
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| 235 |
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| 236 |
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| 237 |
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| 238 |
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| 239 |
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0.1627934931897225,
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0.28903965818057475,
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| 249 |
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|
| 250 |
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| 251 |
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|
| 252 |
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"count": [
|
| 253 |
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95717
|
| 254 |
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|
| 255 |
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},
|
| 256 |
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"index": {
|
| 257 |
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"min": [
|
| 258 |
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75
|
| 259 |
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],
|
| 260 |
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"max": [
|
| 261 |
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108842
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| 262 |
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],
|
| 263 |
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"mean": [
|
| 264 |
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|
| 265 |
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| 266 |
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"std": [
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| 267 |
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| 268 |
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| 269 |
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"count": [
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| 270 |
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| 271 |
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|
| 272 |
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}
|
| 273 |
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}
|
1500case/dataset/di3_Pick_up_basket_place_largest_block_into_basket/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "Pick up the basket with the left hand and place the largest block into the basket with the right hand."}
|
1500case/dataset/di4_Pick_object_to_left_of_cylinder_place_basket/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,100 @@
|
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|
|
|
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|
|
|
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|
|
|
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|
|
|
|
|
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|
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|
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|
|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "length": 1076, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1076, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 0, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 0, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 0}
|
| 2 |
+
{"episode_index": 1, "length": 1145, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1145, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 1, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 1, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 1}
|
| 3 |
+
{"episode_index": 2, "length": 1076, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1076, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 2, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 2, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 2}
|
| 4 |
+
{"episode_index": 3, "length": 1056, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1056, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 3, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 3, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 3}
|
| 5 |
+
{"episode_index": 4, "length": 1072, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1072, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 4, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 4, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 4}
|
| 6 |
+
{"episode_index": 5, "length": 1132, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1132, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 5, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 5, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 5}
|
| 7 |
+
{"episode_index": 6, "length": 1217, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1217, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 6, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 6, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 6}
|
| 8 |
+
{"episode_index": 7, "length": 1156, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1156, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 7, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 7, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 7}
|
| 9 |
+
{"episode_index": 8, "length": 1190, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1190, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 8, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 8, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 8}
|
| 10 |
+
{"episode_index": 9, "length": 1223, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1223, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 9, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 9, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 9}
|
| 11 |
+
{"episode_index": 10, "length": 1203, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1203, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 10, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 10, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 10}
|
| 12 |
+
{"episode_index": 11, "length": 1142, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1142, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 11, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 11, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 11}
|
| 13 |
+
{"episode_index": 12, "length": 1167, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1167, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 12, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 12, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 12}
|
| 14 |
+
{"episode_index": 13, "length": 1122, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1122, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 13, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 13, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 13}
|
| 15 |
+
{"episode_index": 14, "length": 1156, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1156, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 14, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 14, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 14}
|
| 16 |
+
{"episode_index": 15, "length": 1256, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1256, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 15, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 15, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 15}
|
| 17 |
+
{"episode_index": 16, "length": 1189, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1189, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 16, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 16, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 16}
|
| 18 |
+
{"episode_index": 17, "length": 1066, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1066, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 17, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 17, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 17}
|
| 19 |
+
{"episode_index": 18, "length": 1223, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1223, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 18, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 18, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 18}
|
| 20 |
+
{"episode_index": 19, "length": 1171, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1171, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 19, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 19, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 19}
|
| 21 |
+
{"episode_index": 20, "length": 1190, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1190, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 20, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 20, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 20}
|
| 22 |
+
{"episode_index": 21, "length": 1299, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1299, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 21, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 21, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 21}
|
| 23 |
+
{"episode_index": 22, "length": 1165, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1165, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 22, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 22, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 22}
|
| 24 |
+
{"episode_index": 23, "length": 1131, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1131, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 23, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 23, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 23}
|
| 25 |
+
{"episode_index": 24, "length": 1015, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1015, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 24, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 24, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 24}
|
| 26 |
+
{"episode_index": 25, "length": 921, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 921, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 25, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 25, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 25}
|
| 27 |
+
{"episode_index": 26, "length": 992, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 992, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 26, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 26, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 26}
|
| 28 |
+
{"episode_index": 27, "length": 1170, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1170, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 27, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 27, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 27}
|
| 29 |
+
{"episode_index": 28, "length": 1031, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1031, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 28, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 28, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 28}
|
| 30 |
+
{"episode_index": 29, "length": 1029, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1029, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 29, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 29, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 29}
|
| 31 |
+
{"episode_index": 30, "length": 1027, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 1027, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 30, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 30, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 30}
|
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{"episode_index": 73, "length": 558, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 558, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 73, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 73, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 73}
|
| 75 |
+
{"episode_index": 74, "length": 563, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 563, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 74, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 74, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 74}
|
| 76 |
+
{"episode_index": 75, "length": 534, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 534, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 75, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 75, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 75}
|
| 77 |
+
{"episode_index": 76, "length": 585, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 585, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 76, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 76, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 76}
|
| 78 |
+
{"episode_index": 77, "length": 636, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 636, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 77, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 77, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 77}
|
| 79 |
+
{"episode_index": 78, "length": 576, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 576, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 78, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 78, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 78}
|
| 80 |
+
{"episode_index": 79, "length": 512, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 512, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 79, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 79, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 79}
|
| 81 |
+
{"episode_index": 80, "length": 602, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 602, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 80, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 80, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 80}
|
| 82 |
+
{"episode_index": 81, "length": 466, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 466, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 81, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 81, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 81}
|
| 83 |
+
{"episode_index": 82, "length": 633, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 633, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 82, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 82, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 82}
|
| 84 |
+
{"episode_index": 83, "length": 564, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 564, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 83, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 83, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 83}
|
| 85 |
+
{"episode_index": 84, "length": 510, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 510, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 84, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 84, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 84}
|
| 86 |
+
{"episode_index": 85, "length": 515, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 515, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 85, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 85, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 85}
|
| 87 |
+
{"episode_index": 86, "length": 517, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 517, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 86, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 86, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 86}
|
| 88 |
+
{"episode_index": 87, "length": 508, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 508, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 87, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 87, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 87}
|
| 89 |
+
{"episode_index": 88, "length": 503, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 503, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 88, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 88, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 88}
|
| 90 |
+
{"episode_index": 89, "length": 487, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 487, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 89, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 89, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 89}
|
| 91 |
+
{"episode_index": 90, "length": 554, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 554, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 90, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 90, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 90}
|
| 92 |
+
{"episode_index": 91, "length": 552, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 552, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 91, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 91, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 91}
|
| 93 |
+
{"episode_index": 92, "length": 578, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 578, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 92, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 92, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 92}
|
| 94 |
+
{"episode_index": 93, "length": 530, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 530, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 93, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 93, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 93}
|
| 95 |
+
{"episode_index": 94, "length": 572, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 572, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 94, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 94, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 94}
|
| 96 |
+
{"episode_index": 95, "length": 541, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 541, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 95, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 95, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 95}
|
| 97 |
+
{"episode_index": 96, "length": 568, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 568, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 96, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 96, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 96}
|
| 98 |
+
{"episode_index": 97, "length": 574, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 574, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 97, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 97, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 97}
|
| 99 |
+
{"episode_index": 98, "length": 518, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 518, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 98, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 98, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 98}
|
| 100 |
+
{"episode_index": 99, "length": 453, "tasks": ["Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."], "video_from_index": 0, "video_to_index": 453, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 99, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 99, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 99}
|
1500case/dataset/di4_Pick_object_to_left_of_cylinder_place_basket/meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
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|
1500case/dataset/di4_Pick_object_to_left_of_cylinder_place_basket/meta/info.json
ADDED
|
@@ -0,0 +1,181 @@
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|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": null,
|
| 4 |
+
"total_episodes": 100,
|
| 5 |
+
"total_frames": 80085,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 300,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 10000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:100"
|
| 13 |
+
},
|
| 14 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 15 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 16 |
+
"features": {
|
| 17 |
+
"action": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"names": [
|
| 20 |
+
"leader_joint1_right.pos",
|
| 21 |
+
"leader_joint2_right.pos",
|
| 22 |
+
"leader_joint3_right.pos",
|
| 23 |
+
"leader_joint4_right.pos",
|
| 24 |
+
"leader_joint5_right.pos",
|
| 25 |
+
"leader_joint6_right.pos",
|
| 26 |
+
"leader_gripper_right.pos",
|
| 27 |
+
"leader_joint1_left.pos",
|
| 28 |
+
"leader_joint2_left.pos",
|
| 29 |
+
"leader_joint3_left.pos",
|
| 30 |
+
"leader_joint4_left.pos",
|
| 31 |
+
"leader_joint5_left.pos",
|
| 32 |
+
"leader_joint6_left.pos",
|
| 33 |
+
"leader_gripper_left.pos"
|
| 34 |
+
],
|
| 35 |
+
"shape": [
|
| 36 |
+
14
|
| 37 |
+
]
|
| 38 |
+
},
|
| 39 |
+
"observation.state": {
|
| 40 |
+
"dtype": "float32",
|
| 41 |
+
"names": [
|
| 42 |
+
"follower_joint1_right.pos",
|
| 43 |
+
"follower_joint2_right.pos",
|
| 44 |
+
"follower_joint3_right.pos",
|
| 45 |
+
"follower_joint4_right.pos",
|
| 46 |
+
"follower_joint5_right.pos",
|
| 47 |
+
"follower_joint6_right.pos",
|
| 48 |
+
"follower_gripper_right.pos",
|
| 49 |
+
"follower_pose_right_x.pos",
|
| 50 |
+
"follower_pose_right_y.pos",
|
| 51 |
+
"follower_pose_right_z.pos",
|
| 52 |
+
"follower_pose_right_rx.pos",
|
| 53 |
+
"follower_pose_right_ry.pos",
|
| 54 |
+
"follower_pose_right_rz.pos",
|
| 55 |
+
"follower_joint1_left.pos",
|
| 56 |
+
"follower_joint2_left.pos",
|
| 57 |
+
"follower_joint3_left.pos",
|
| 58 |
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1500case/dataset/di4_Pick_object_to_left_of_cylinder_place_basket/meta/stats.json
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@@ -0,0 +1,273 @@
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|
1500case/dataset/di4_Pick_object_to_left_of_cylinder_place_basket/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand."}
|
1500case/dataset/di6_Pick_up_two_cubes_place_into_two_baskets/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,100 @@
|
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|
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|
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|
|
|
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|
|
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|
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|
|
|
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|
|
|
|
| 1 |
+
{"episode_index": 0, "length": 1106, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 1106, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 0, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 0, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 0}
|
| 2 |
+
{"episode_index": 1, "length": 1100, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 1100, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 1, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 1, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 1}
|
| 3 |
+
{"episode_index": 2, "length": 1100, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 1100, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 2, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 2, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 2}
|
| 4 |
+
{"episode_index": 3, "length": 1190, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 1190, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 3, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 3, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 3}
|
| 5 |
+
{"episode_index": 4, "length": 1066, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 1066, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 4, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 4, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 4}
|
| 6 |
+
{"episode_index": 5, "length": 1173, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 1173, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 5, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 5, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 5}
|
| 7 |
+
{"episode_index": 6, "length": 1146, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 1146, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 6, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 6, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 6}
|
| 8 |
+
{"episode_index": 7, "length": 1080, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 1080, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 7, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 7, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 7}
|
| 9 |
+
{"episode_index": 8, "length": 1069, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 1069, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 8, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 8, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 8}
|
| 10 |
+
{"episode_index": 9, "length": 1245, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 1245, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 9, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 9, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 9}
|
| 11 |
+
{"episode_index": 10, "length": 1065, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 1065, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 10, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 10, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 10}
|
| 12 |
+
{"episode_index": 11, "length": 1126, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 1126, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 11, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 11, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 11}
|
| 13 |
+
{"episode_index": 12, "length": 987, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 987, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 12, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 12, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 12}
|
| 14 |
+
{"episode_index": 13, "length": 1005, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 1005, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 13, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 13, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 13}
|
| 15 |
+
{"episode_index": 14, "length": 972, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 972, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 14, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 14, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 14}
|
| 16 |
+
{"episode_index": 15, "length": 1050, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 1050, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 15, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 15, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 15}
|
| 17 |
+
{"episode_index": 16, "length": 1049, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 1049, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 16, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 16, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 16}
|
| 18 |
+
{"episode_index": 17, "length": 977, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 977, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 17, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 17, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 17}
|
| 19 |
+
{"episode_index": 18, "length": 1142, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 1142, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 18, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 18, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 18}
|
| 20 |
+
{"episode_index": 19, "length": 1076, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 1076, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 19, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 19, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 19}
|
| 21 |
+
{"episode_index": 20, "length": 1103, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 1103, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 20, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 20, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 20}
|
| 22 |
+
{"episode_index": 21, "length": 1036, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 1036, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 21, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 21, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 21}
|
| 23 |
+
{"episode_index": 22, "length": 1052, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 1052, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 22, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 22, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 22}
|
| 24 |
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{"episode_index": 23, "length": 1067, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 1067, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 23, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 23, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 23}
|
| 25 |
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{"episode_index": 24, "length": 1099, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 1099, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 24, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 24, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 24}
|
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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{"episode_index": 77, "length": 1042, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 1042, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 77, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 77, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 77}
|
| 79 |
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{"episode_index": 78, "length": 1049, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 1049, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 78, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 78, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 78}
|
| 80 |
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{"episode_index": 79, "length": 1036, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 1036, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 79, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 79, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 79}
|
| 81 |
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{"episode_index": 80, "length": 1126, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 1126, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 80, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 80, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 80}
|
| 82 |
+
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|
| 83 |
+
{"episode_index": 82, "length": 1079, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 1079, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 82, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 82, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 82}
|
| 84 |
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{"episode_index": 83, "length": 1086, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 1086, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 83, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 83, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 83}
|
| 85 |
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{"episode_index": 84, "length": 1054, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 1054, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 84, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 84, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 84}
|
| 86 |
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{"episode_index": 85, "length": 1072, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 1072, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 85, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 85, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 85}
|
| 87 |
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|
| 88 |
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{"episode_index": 87, "length": 1061, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 1061, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 87, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 87, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 87}
|
| 89 |
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{"episode_index": 88, "length": 975, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 975, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 88, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 88, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 88}
|
| 90 |
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{"episode_index": 89, "length": 1158, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 1158, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 89, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 89, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 89}
|
| 91 |
+
{"episode_index": 90, "length": 1052, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 1052, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 90, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 90, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 90}
|
| 92 |
+
{"episode_index": 91, "length": 1139, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 1139, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 91, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 91, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 91}
|
| 93 |
+
{"episode_index": 92, "length": 1172, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 1172, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 92, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 92, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 92}
|
| 94 |
+
{"episode_index": 93, "length": 1127, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 1127, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 93, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 93, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 93}
|
| 95 |
+
{"episode_index": 94, "length": 1157, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 1157, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 94, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 94, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 94}
|
| 96 |
+
{"episode_index": 95, "length": 1004, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 1004, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 95, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 95, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 95}
|
| 97 |
+
{"episode_index": 96, "length": 1012, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 1012, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 96, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 96, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 96}
|
| 98 |
+
{"episode_index": 97, "length": 873, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 873, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 97, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 97, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 97}
|
| 99 |
+
{"episode_index": 98, "length": 1055, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 1055, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 98, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 98, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 98}
|
| 100 |
+
{"episode_index": 99, "length": 1097, "tasks": ["Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."], "video_from_index": 0, "video_to_index": 1097, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 99, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 99, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 99}
|
1500case/dataset/di6_Pick_up_two_cubes_place_into_two_baskets/meta/episodes_stats.jsonl
ADDED
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1500case/dataset/di6_Pick_up_two_cubes_place_into_two_baskets/meta/info.json
ADDED
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1500case/dataset/di6_Pick_up_two_cubes_place_into_two_baskets/meta/stats.json
ADDED
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@@ -0,0 +1,273 @@
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1500case/dataset/di6_Pick_up_two_cubes_place_into_two_baskets/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket."}
|
1500case/dataset/di7_Place_objects_except_the_red_block_into_basket/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,100 @@
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|
|
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|
| 1 |
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{"episode_index": 0, "length": 648, "tasks": ["Place all geometric objects except the red cube into the basket."], "video_from_index": 0, "video_to_index": 648, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 0, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 0, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 0}
|
| 2 |
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{"episode_index": 1, "length": 554, "tasks": ["Place all geometric objects except the red cube into the basket."], "video_from_index": 0, "video_to_index": 554, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 1, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 1, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 1}
|
| 3 |
+
{"episode_index": 2, "length": 571, "tasks": ["Place all geometric objects except the red cube into the basket."], "video_from_index": 0, "video_to_index": 571, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 2, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 2, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 2}
|
| 4 |
+
{"episode_index": 3, "length": 545, "tasks": ["Place all geometric objects except the red cube into the basket."], "video_from_index": 0, "video_to_index": 545, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 3, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 3, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 3}
|
| 5 |
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{"episode_index": 4, "length": 562, "tasks": ["Place all geometric objects except the red cube into the basket."], "video_from_index": 0, "video_to_index": 562, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 4, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 4, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 4}
|
| 6 |
+
{"episode_index": 5, "length": 530, "tasks": ["Place all geometric objects except the red cube into the basket."], "video_from_index": 0, "video_to_index": 530, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 5, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 5, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 5}
|
| 7 |
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{"episode_index": 6, "length": 535, "tasks": ["Place all geometric objects except the red cube into the basket."], "video_from_index": 0, "video_to_index": 535, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 6, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 6, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 6}
|
| 8 |
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{"episode_index": 7, "length": 569, "tasks": ["Place all geometric objects except the red cube into the basket."], "video_from_index": 0, "video_to_index": 569, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 7, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 7, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 7}
|
| 9 |
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{"episode_index": 8, "length": 561, "tasks": ["Place all geometric objects except the red cube into the basket."], "video_from_index": 0, "video_to_index": 561, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 8, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 8, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 8}
|
| 10 |
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{"episode_index": 9, "length": 581, "tasks": ["Place all geometric objects except the red cube into the basket."], "video_from_index": 0, "video_to_index": 581, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 9, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 9, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 9}
|
| 11 |
+
{"episode_index": 10, "length": 567, "tasks": ["Place all geometric objects except the red cube into the basket."], "video_from_index": 0, "video_to_index": 567, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 10, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 10, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 10}
|
| 12 |
+
{"episode_index": 11, "length": 526, "tasks": ["Place all geometric objects except the red cube into the basket."], "video_from_index": 0, "video_to_index": 526, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 11, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 11, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 11}
|
| 13 |
+
{"episode_index": 12, "length": 559, "tasks": ["Place all geometric objects except the red cube into the basket."], "video_from_index": 0, "video_to_index": 559, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 12, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 12, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 12}
|
| 14 |
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{"episode_index": 13, "length": 618, "tasks": ["Place all geometric objects except the red cube into the basket."], "video_from_index": 0, "video_to_index": 618, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 13, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 13, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 13}
|
| 15 |
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{"episode_index": 14, "length": 491, "tasks": ["Place all geometric objects except the red cube into the basket."], "video_from_index": 0, "video_to_index": 491, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 14, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 14, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 14}
|
| 16 |
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{"episode_index": 15, "length": 519, "tasks": ["Place all geometric objects except the red cube into the basket."], "video_from_index": 0, "video_to_index": 519, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 15, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 15, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 15}
|
| 17 |
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{"episode_index": 16, "length": 511, "tasks": ["Place all geometric objects except the red cube into the basket."], "video_from_index": 0, "video_to_index": 511, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 16, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 16, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 16}
|
| 18 |
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{"episode_index": 17, "length": 535, "tasks": ["Place all geometric objects except the red cube into the basket."], "video_from_index": 0, "video_to_index": 535, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 17, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 17, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 17}
|
| 19 |
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{"episode_index": 18, "length": 541, "tasks": ["Place all geometric objects except the red cube into the basket."], "video_from_index": 0, "video_to_index": 541, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 18, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 18, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 18}
|
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| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
+
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|
| 71 |
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|
| 72 |
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|
| 73 |
+
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|
| 74 |
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|
| 75 |
+
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|
| 76 |
+
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|
| 77 |
+
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|
| 78 |
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|
| 79 |
+
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|
| 80 |
+
{"episode_index": 79, "length": 539, "tasks": ["Place all geometric objects except the red cube into the basket."], "video_from_index": 0, "video_to_index": 539, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 79, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 79, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 79}
|
| 81 |
+
{"episode_index": 80, "length": 750, "tasks": ["Place all geometric objects except the red cube into the basket."], "video_from_index": 0, "video_to_index": 750, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 80, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 80, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 80}
|
| 82 |
+
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|
| 83 |
+
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
+
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|
| 91 |
+
{"episode_index": 90, "length": 542, "tasks": ["Place all geometric objects except the red cube into the basket."], "video_from_index": 0, "video_to_index": 542, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 90, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 90, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 90}
|
| 92 |
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{"episode_index": 91, "length": 515, "tasks": ["Place all geometric objects except the red cube into the basket."], "video_from_index": 0, "video_to_index": 515, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 91, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 91, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 91}
|
| 93 |
+
{"episode_index": 92, "length": 486, "tasks": ["Place all geometric objects except the red cube into the basket."], "video_from_index": 0, "video_to_index": 486, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 92, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 92, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 92}
|
| 94 |
+
{"episode_index": 93, "length": 469, "tasks": ["Place all geometric objects except the red cube into the basket."], "video_from_index": 0, "video_to_index": 469, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 93, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 93, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 93}
|
| 95 |
+
{"episode_index": 94, "length": 630, "tasks": ["Place all geometric objects except the red cube into the basket."], "video_from_index": 0, "video_to_index": 630, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 94, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 94, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 94}
|
| 96 |
+
{"episode_index": 95, "length": 688, "tasks": ["Place all geometric objects except the red cube into the basket."], "video_from_index": 0, "video_to_index": 688, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 95, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 95, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 95}
|
| 97 |
+
{"episode_index": 96, "length": 648, "tasks": ["Place all geometric objects except the red cube into the basket."], "video_from_index": 0, "video_to_index": 648, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 96, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 96, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 96}
|
| 98 |
+
{"episode_index": 97, "length": 668, "tasks": ["Place all geometric objects except the red cube into the basket."], "video_from_index": 0, "video_to_index": 668, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 97, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 97, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 97}
|
| 99 |
+
{"episode_index": 98, "length": 534, "tasks": ["Place all geometric objects except the red cube into the basket."], "video_from_index": 0, "video_to_index": 534, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 98, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 98, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 98}
|
| 100 |
+
{"episode_index": 99, "length": 503, "tasks": ["Place all geometric objects except the red cube into the basket."], "video_from_index": 0, "video_to_index": 503, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 99, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 99, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 99}
|
1500case/dataset/di7_Place_objects_except_the_red_block_into_basket/meta/info.json
ADDED
|
@@ -0,0 +1,181 @@
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|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": null,
|
| 4 |
+
"total_episodes": 100,
|
| 5 |
+
"total_frames": 55623,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 300,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 10000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:100"
|
| 13 |
+
},
|
| 14 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 15 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 16 |
+
"features": {
|
| 17 |
+
"action": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"names": [
|
| 20 |
+
"leader_joint1_right.pos",
|
| 21 |
+
"leader_joint2_right.pos",
|
| 22 |
+
"leader_joint3_right.pos",
|
| 23 |
+
"leader_joint4_right.pos",
|
| 24 |
+
"leader_joint5_right.pos",
|
| 25 |
+
"leader_joint6_right.pos",
|
| 26 |
+
"leader_gripper_right.pos",
|
| 27 |
+
"leader_joint1_left.pos",
|
| 28 |
+
"leader_joint2_left.pos",
|
| 29 |
+
"leader_joint3_left.pos",
|
| 30 |
+
"leader_joint4_left.pos",
|
| 31 |
+
"leader_joint5_left.pos",
|
| 32 |
+
"leader_joint6_left.pos",
|
| 33 |
+
"leader_gripper_left.pos"
|
| 34 |
+
],
|
| 35 |
+
"shape": [
|
| 36 |
+
14
|
| 37 |
+
]
|
| 38 |
+
},
|
| 39 |
+
"observation.state": {
|
| 40 |
+
"dtype": "float32",
|
| 41 |
+
"names": [
|
| 42 |
+
"follower_joint1_right.pos",
|
| 43 |
+
"follower_joint2_right.pos",
|
| 44 |
+
"follower_joint3_right.pos",
|
| 45 |
+
"follower_joint4_right.pos",
|
| 46 |
+
"follower_joint5_right.pos",
|
| 47 |
+
"follower_joint6_right.pos",
|
| 48 |
+
"follower_gripper_right.pos",
|
| 49 |
+
"follower_pose_right_x.pos",
|
| 50 |
+
"follower_pose_right_y.pos",
|
| 51 |
+
"follower_pose_right_z.pos",
|
| 52 |
+
"follower_pose_right_rx.pos",
|
| 53 |
+
"follower_pose_right_ry.pos",
|
| 54 |
+
"follower_pose_right_rz.pos",
|
| 55 |
+
"follower_joint1_left.pos",
|
| 56 |
+
"follower_joint2_left.pos",
|
| 57 |
+
"follower_joint3_left.pos",
|
| 58 |
+
"follower_joint4_left.pos",
|
| 59 |
+
"follower_joint5_left.pos",
|
| 60 |
+
"follower_joint6_left.pos",
|
| 61 |
+
"follower_gripper_left.pos",
|
| 62 |
+
"follower_pose_left_x.pos",
|
| 63 |
+
"follower_pose_left_y.pos",
|
| 64 |
+
"follower_pose_left_z.pos",
|
| 65 |
+
"follower_pose_left_rx.pos",
|
| 66 |
+
"follower_pose_left_ry.pos",
|
| 67 |
+
"follower_pose_left_rz.pos"
|
| 68 |
+
],
|
| 69 |
+
"shape": [
|
| 70 |
+
26
|
| 71 |
+
]
|
| 72 |
+
},
|
| 73 |
+
"observation.images.image_top": {
|
| 74 |
+
"dtype": "video",
|
| 75 |
+
"shape": [
|
| 76 |
+
480,
|
| 77 |
+
640,
|
| 78 |
+
3
|
| 79 |
+
],
|
| 80 |
+
"names": [
|
| 81 |
+
"height",
|
| 82 |
+
"width",
|
| 83 |
+
"channels"
|
| 84 |
+
],
|
| 85 |
+
"info": {
|
| 86 |
+
"video.fps": 30,
|
| 87 |
+
"video.height": 480,
|
| 88 |
+
"video.width": 640,
|
| 89 |
+
"video.channels": 3,
|
| 90 |
+
"video.codec": "libx264",
|
| 91 |
+
"video.pix_fmt": "yuv420p",
|
| 92 |
+
"video.is_depth_map": false,
|
| 93 |
+
"has_audio": false
|
| 94 |
+
}
|
| 95 |
+
},
|
| 96 |
+
"observation.images.image_right": {
|
| 97 |
+
"dtype": "video",
|
| 98 |
+
"shape": [
|
| 99 |
+
480,
|
| 100 |
+
640,
|
| 101 |
+
3
|
| 102 |
+
],
|
| 103 |
+
"names": [
|
| 104 |
+
"height",
|
| 105 |
+
"width",
|
| 106 |
+
"channels"
|
| 107 |
+
],
|
| 108 |
+
"info": {
|
| 109 |
+
"video.fps": 30,
|
| 110 |
+
"video.height": 480,
|
| 111 |
+
"video.width": 640,
|
| 112 |
+
"video.channels": 3,
|
| 113 |
+
"video.codec": "libx264",
|
| 114 |
+
"video.pix_fmt": "yuv420p",
|
| 115 |
+
"video.is_depth_map": false,
|
| 116 |
+
"has_audio": false
|
| 117 |
+
}
|
| 118 |
+
},
|
| 119 |
+
"observation.images.image_left": {
|
| 120 |
+
"dtype": "video",
|
| 121 |
+
"shape": [
|
| 122 |
+
480,
|
| 123 |
+
640,
|
| 124 |
+
3
|
| 125 |
+
],
|
| 126 |
+
"names": [
|
| 127 |
+
"height",
|
| 128 |
+
"width",
|
| 129 |
+
"channels"
|
| 130 |
+
],
|
| 131 |
+
"info": {
|
| 132 |
+
"video.fps": 30,
|
| 133 |
+
"video.height": 480,
|
| 134 |
+
"video.width": 640,
|
| 135 |
+
"video.channels": 3,
|
| 136 |
+
"video.codec": "libx264",
|
| 137 |
+
"video.pix_fmt": "yuv420p",
|
| 138 |
+
"video.is_depth_map": false,
|
| 139 |
+
"has_audio": false
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"timestamp": {
|
| 143 |
+
"dtype": "float32",
|
| 144 |
+
"shape": [
|
| 145 |
+
1
|
| 146 |
+
],
|
| 147 |
+
"names": null
|
| 148 |
+
},
|
| 149 |
+
"frame_index": {
|
| 150 |
+
"dtype": "int64",
|
| 151 |
+
"shape": [
|
| 152 |
+
1
|
| 153 |
+
],
|
| 154 |
+
"names": null
|
| 155 |
+
},
|
| 156 |
+
"episode_index": {
|
| 157 |
+
"dtype": "int64",
|
| 158 |
+
"shape": [
|
| 159 |
+
1
|
| 160 |
+
],
|
| 161 |
+
"names": null
|
| 162 |
+
},
|
| 163 |
+
"index": {
|
| 164 |
+
"dtype": "int64",
|
| 165 |
+
"shape": [
|
| 166 |
+
1
|
| 167 |
+
],
|
| 168 |
+
"names": null
|
| 169 |
+
},
|
| 170 |
+
"task_index": {
|
| 171 |
+
"dtype": "int64",
|
| 172 |
+
"shape": [
|
| 173 |
+
1
|
| 174 |
+
],
|
| 175 |
+
"names": null
|
| 176 |
+
}
|
| 177 |
+
},
|
| 178 |
+
"dorobot_dataset_version": "v1.0",
|
| 179 |
+
"image_path": null,
|
| 180 |
+
"audio_path": null
|
| 181 |
+
}
|
1500case/dataset/di7_Place_objects_except_the_red_block_into_basket/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "Place all geometric objects except the red cube into the basket."}
|
1500case/dataset/dm1_Pick_the_basket_and_put_the_cube_into_the_basket/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,100 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "length": 816, "tasks": ["Pick up the basket with the left hand and place the cube into the basket with the right hand."], "video_from_index": 0, "video_to_index": 816, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 0, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 0, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 0}
|
| 2 |
+
{"episode_index": 1, "length": 793, "tasks": ["Pick up the basket with the left hand and place the cube into the basket with the right hand."], "video_from_index": 0, "video_to_index": 793, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 1, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 1, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 1}
|
| 3 |
+
{"episode_index": 2, "length": 985, "tasks": ["Pick up the basket with the left hand and place the cube into the basket with the right hand."], "video_from_index": 0, "video_to_index": 985, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 2, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 2, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 2}
|
| 4 |
+
{"episode_index": 3, "length": 807, "tasks": ["Pick up the basket with the left hand and place the cube into the basket with the right hand."], "video_from_index": 0, "video_to_index": 807, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 3, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 3, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 3}
|
| 5 |
+
{"episode_index": 4, "length": 862, "tasks": ["Pick up the basket with the left hand and place the cube into the basket with the right hand."], "video_from_index": 0, "video_to_index": 862, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 4, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 4, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 4}
|
| 6 |
+
{"episode_index": 5, "length": 737, "tasks": ["Pick up the basket with the left hand and place the cube into the basket with the right hand."], "video_from_index": 0, "video_to_index": 737, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 5, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 5, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 5}
|
| 7 |
+
{"episode_index": 6, "length": 762, "tasks": ["Pick up the basket with the left hand and place the cube into the basket with the right hand."], "video_from_index": 0, "video_to_index": 762, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 6, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 6, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 6}
|
| 8 |
+
{"episode_index": 7, "length": 892, "tasks": ["Pick up the basket with the left hand and place the cube into the basket with the right hand."], "video_from_index": 0, "video_to_index": 892, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 7, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 7, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 7}
|
| 9 |
+
{"episode_index": 8, "length": 825, "tasks": ["Pick up the basket with the left hand and place the cube into the basket with the right hand."], "video_from_index": 0, "video_to_index": 825, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 8, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 8, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 8}
|
| 10 |
+
{"episode_index": 9, "length": 673, "tasks": ["Pick up the basket with the left hand and place the cube into the basket with the right hand."], "video_from_index": 0, "video_to_index": 673, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 9, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 9, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 9}
|
| 11 |
+
{"episode_index": 10, "length": 649, "tasks": ["Pick up the basket with the left hand and place the cube into the basket with the right hand."], "video_from_index": 0, "video_to_index": 649, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 10, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 10, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 10}
|
| 12 |
+
{"episode_index": 11, "length": 636, "tasks": ["Pick up the basket with the left hand and place the cube into the basket with the right hand."], "video_from_index": 0, "video_to_index": 636, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 11, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 11, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 11}
|
| 13 |
+
{"episode_index": 12, "length": 519, "tasks": ["Pick up the basket with the left hand and place the cube into the basket with the right hand."], "video_from_index": 0, "video_to_index": 519, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 12, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 12, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 12}
|
| 14 |
+
{"episode_index": 13, "length": 595, "tasks": ["Pick up the basket with the left hand and place the cube into the basket with the right hand."], "video_from_index": 0, "video_to_index": 595, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 13, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 13, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 13}
|
| 15 |
+
{"episode_index": 14, "length": 487, "tasks": ["Pick up the basket with the left hand and place the cube into the basket with the right hand."], "video_from_index": 0, "video_to_index": 487, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 14, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 14, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 14}
|
| 16 |
+
{"episode_index": 15, "length": 558, "tasks": ["Pick up the basket with the left hand and place the cube into the basket with the right hand."], "video_from_index": 0, "video_to_index": 558, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 15, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 15, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 15}
|
| 17 |
+
{"episode_index": 16, "length": 539, "tasks": ["Pick up the basket with the left hand and place the cube into the basket with the right hand."], "video_from_index": 0, "video_to_index": 539, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 16, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 16, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 16}
|
| 18 |
+
{"episode_index": 17, "length": 614, "tasks": ["Pick up the basket with the left hand and place the cube into the basket with the right hand."], "video_from_index": 0, "video_to_index": 614, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 17, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 17, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 17}
|
| 19 |
+
{"episode_index": 18, "length": 622, "tasks": ["Pick up the basket with the left hand and place the cube into the basket with the right hand."], "video_from_index": 0, "video_to_index": 622, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 18, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 18, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 18}
|
| 20 |
+
{"episode_index": 19, "length": 429, "tasks": ["Pick up the basket with the left hand and place the cube into the basket with the right hand."], "video_from_index": 0, "video_to_index": 429, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 19, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 19, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 19}
|
| 21 |
+
{"episode_index": 20, "length": 591, "tasks": ["Pick up the basket with the left hand and place the cube into the basket with the right hand."], "video_from_index": 0, "video_to_index": 591, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 20, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 20, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 20}
|
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
+
{"episode_index": 89, "length": 428, "tasks": ["Pick up the basket with the left hand and place the cube into the basket with the right hand."], "video_from_index": 0, "video_to_index": 428, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 89, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 89, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 89}
|
| 91 |
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{"episode_index": 90, "length": 492, "tasks": ["Pick up the basket with the left hand and place the cube into the basket with the right hand."], "video_from_index": 0, "video_to_index": 492, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 90, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 90, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 90}
|
| 92 |
+
{"episode_index": 91, "length": 401, "tasks": ["Pick up the basket with the left hand and place the cube into the basket with the right hand."], "video_from_index": 0, "video_to_index": 401, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 91, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 91, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 91}
|
| 93 |
+
{"episode_index": 92, "length": 410, "tasks": ["Pick up the basket with the left hand and place the cube into the basket with the right hand."], "video_from_index": 0, "video_to_index": 410, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 92, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 92, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 92}
|
| 94 |
+
{"episode_index": 93, "length": 747, "tasks": ["Pick up the basket with the left hand and place the cube into the basket with the right hand."], "video_from_index": 0, "video_to_index": 747, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 93, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 93, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 93}
|
| 95 |
+
{"episode_index": 94, "length": 438, "tasks": ["Pick up the basket with the left hand and place the cube into the basket with the right hand."], "video_from_index": 0, "video_to_index": 438, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 94, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 94, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 94}
|
| 96 |
+
{"episode_index": 95, "length": 442, "tasks": ["Pick up the basket with the left hand and place the cube into the basket with the right hand."], "video_from_index": 0, "video_to_index": 442, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 95, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 95, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 95}
|
| 97 |
+
{"episode_index": 96, "length": 466, "tasks": ["Pick up the basket with the left hand and place the cube into the basket with the right hand."], "video_from_index": 0, "video_to_index": 466, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 96, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 96, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 96}
|
| 98 |
+
{"episode_index": 97, "length": 535, "tasks": ["Pick up the basket with the left hand and place the cube into the basket with the right hand."], "video_from_index": 0, "video_to_index": 535, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 97, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 97, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 97}
|
| 99 |
+
{"episode_index": 98, "length": 431, "tasks": ["Pick up the basket with the left hand and place the cube into the basket with the right hand."], "video_from_index": 0, "video_to_index": 431, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 98, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 98, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 98}
|
| 100 |
+
{"episode_index": 99, "length": 465, "tasks": ["Pick up the basket with the left hand and place the cube into the basket with the right hand."], "video_from_index": 0, "video_to_index": 465, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 99, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 99, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 99}
|
1500case/dataset/dm1_Pick_the_basket_and_put_the_cube_into_the_basket/meta/episodes_stats.jsonl
ADDED
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1500case/dataset/dm1_Pick_the_basket_and_put_the_cube_into_the_basket/meta/info.json
ADDED
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1500case/dataset/dm1_Pick_the_basket_and_put_the_cube_into_the_basket/meta/stats.json
ADDED
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@@ -0,0 +1,273 @@
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|
1500case/dataset/dm1_Pick_the_basket_and_put_the_cube_into_the_basket/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "Pick up the basket with the left hand and place the cube into the basket with the right hand."}
|
1500case/dataset/dm2_Put_the_ball_in_the_basket/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,100 @@
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|
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|
| 1 |
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{"episode_index": 0, "length": 715, "tasks": ["Pick up the basket with the left hand and place the ball into the basket with the right hand."], "video_from_index": 0, "video_to_index": 715, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 0, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 0, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 0}
|
| 2 |
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{"episode_index": 1, "length": 691, "tasks": ["Pick up the basket with the left hand and place the ball into the basket with the right hand."], "video_from_index": 0, "video_to_index": 691, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 1, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 1, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 1}
|
| 3 |
+
{"episode_index": 2, "length": 739, "tasks": ["Pick up the basket with the left hand and place the ball into the basket with the right hand."], "video_from_index": 0, "video_to_index": 739, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 2, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 2, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 2}
|
| 4 |
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{"episode_index": 3, "length": 626, "tasks": ["Pick up the basket with the left hand and place the ball into the basket with the right hand."], "video_from_index": 0, "video_to_index": 626, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 3, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 3, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 3}
|
| 5 |
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{"episode_index": 4, "length": 659, "tasks": ["Pick up the basket with the left hand and place the ball into the basket with the right hand."], "video_from_index": 0, "video_to_index": 659, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 4, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 4, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 4}
|
| 6 |
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{"episode_index": 5, "length": 723, "tasks": ["Pick up the basket with the left hand and place the ball into the basket with the right hand."], "video_from_index": 0, "video_to_index": 723, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 5, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 5, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 5}
|
| 7 |
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{"episode_index": 6, "length": 644, "tasks": ["Pick up the basket with the left hand and place the ball into the basket with the right hand."], "video_from_index": 0, "video_to_index": 644, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 6, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 6, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 6}
|
| 8 |
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{"episode_index": 7, "length": 738, "tasks": ["Pick up the basket with the left hand and place the ball into the basket with the right hand."], "video_from_index": 0, "video_to_index": 738, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 7, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 7, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 7}
|
| 9 |
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{"episode_index": 8, "length": 702, "tasks": ["Pick up the basket with the left hand and place the ball into the basket with the right hand."], "video_from_index": 0, "video_to_index": 702, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 8, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 8, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 8}
|
| 10 |
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{"episode_index": 9, "length": 654, "tasks": ["Pick up the basket with the left hand and place the ball into the basket with the right hand."], "video_from_index": 0, "video_to_index": 654, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 9, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 9, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 9}
|
| 11 |
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{"episode_index": 10, "length": 770, "tasks": ["Pick up the basket with the left hand and place the ball into the basket with the right hand."], "video_from_index": 0, "video_to_index": 770, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 10, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 10, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 10}
|
| 12 |
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{"episode_index": 11, "length": 734, "tasks": ["Pick up the basket with the left hand and place the ball into the basket with the right hand."], "video_from_index": 0, "video_to_index": 734, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 11, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 11, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 11}
|
| 13 |
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{"episode_index": 12, "length": 621, "tasks": ["Pick up the basket with the left hand and place the ball into the basket with the right hand."], "video_from_index": 0, "video_to_index": 621, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 12, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 12, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 12}
|
| 14 |
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{"episode_index": 13, "length": 630, "tasks": ["Pick up the basket with the left hand and place the ball into the basket with the right hand."], "video_from_index": 0, "video_to_index": 630, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 13, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 13, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 13}
|
| 15 |
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{"episode_index": 14, "length": 657, "tasks": ["Pick up the basket with the left hand and place the ball into the basket with the right hand."], "video_from_index": 0, "video_to_index": 657, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 14, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 14, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 14}
|
| 16 |
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{"episode_index": 15, "length": 596, "tasks": ["Pick up the basket with the left hand and place the ball into the basket with the right hand."], "video_from_index": 0, "video_to_index": 596, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 15, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 15, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 15}
|
| 17 |
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{"episode_index": 16, "length": 668, "tasks": ["Pick up the basket with the left hand and place the ball into the basket with the right hand."], "video_from_index": 0, "video_to_index": 668, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 16, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 16, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 16}
|
| 18 |
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{"episode_index": 17, "length": 573, "tasks": ["Pick up the basket with the left hand and place the ball into the basket with the right hand."], "video_from_index": 0, "video_to_index": 573, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 17, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 17, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 17}
|
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{"episode_index": 18, "length": 822, "tasks": ["Pick up the basket with the left hand and place the ball into the basket with the right hand."], "video_from_index": 0, "video_to_index": 822, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 18, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 18, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 18}
|
| 20 |
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{"episode_index": 19, "length": 796, "tasks": ["Pick up the basket with the left hand and place the ball into the basket with the right hand."], "video_from_index": 0, "video_to_index": 796, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 19, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 19, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 19}
|
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|
| 67 |
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| 68 |
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| 69 |
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| 70 |
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| 71 |
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| 72 |
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| 73 |
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| 74 |
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| 75 |
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| 76 |
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|
| 77 |
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| 78 |
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| 79 |
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| 80 |
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|
| 81 |
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|
| 82 |
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| 83 |
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| 84 |
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| 85 |
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| 86 |
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| 87 |
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| 88 |
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| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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{"episode_index": 95, "length": 837, "tasks": ["Pick up the basket with the left hand and place the ball into the basket with the right hand."], "video_from_index": 0, "video_to_index": 837, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 95, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 95, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 95}
|
| 97 |
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{"episode_index": 96, "length": 771, "tasks": ["Pick up the basket with the left hand and place the ball into the basket with the right hand."], "video_from_index": 0, "video_to_index": 771, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 96, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 96, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 96}
|
| 98 |
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|
| 99 |
+
{"episode_index": 98, "length": 815, "tasks": ["Pick up the basket with the left hand and place the ball into the basket with the right hand."], "video_from_index": 0, "video_to_index": 815, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 98, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 98, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 98}
|
| 100 |
+
{"episode_index": 99, "length": 850, "tasks": ["Pick up the basket with the left hand and place the ball into the basket with the right hand."], "video_from_index": 0, "video_to_index": 850, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 99, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 99, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 99}
|
1500case/dataset/dm2_Put_the_ball_in_the_basket/meta/stats.json
ADDED
|
@@ -0,0 +1,273 @@
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|
1500case/dataset/dm4_Push_two_cubes_into_the_marked_area/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "Push the two cubes into the marked area."}
|
1500case/dataset/dm6_Open_drawer_put_block_into_drawer_close_drawer/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "Open the drawer with the left hand, place the block into the drawer with the right hand, then close the drawer with the left hand."}
|
1500case/dataset/dm7_Stack_two_blocks_in_target_position/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,100 @@
|
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|
|
| 1 |
+
{"episode_index": 0, "length": 732, "tasks": ["Pick up one cube with the left hand and another cube with the right hand. First place the cube in the right hand at the target position, then stack the cube in the left hand on top."], "video_from_index": 0, "video_to_index": 732, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 0, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 0, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 0}
|
| 2 |
+
{"episode_index": 1, "length": 741, "tasks": ["Pick up one cube with the left hand and another cube with the right hand. First place the cube in the right hand at the target position, then stack the cube in the left hand on top."], "video_from_index": 0, "video_to_index": 741, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 1, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 1, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 1}
|
| 3 |
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| 30 |
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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| 38 |
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| 39 |
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| 40 |
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| 41 |
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| 42 |
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| 82 |
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{"episode_index": 81, "length": 962, "tasks": ["Pick up one cube with the left hand and another cube with the right hand. First place the cube in the right hand at the target position, then stack the cube in the left hand on top."], "video_from_index": 0, "video_to_index": 962, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 81, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 81, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 81}
|
| 83 |
+
{"episode_index": 82, "length": 754, "tasks": ["Pick up one cube with the left hand and another cube with the right hand. First place the cube in the right hand at the target position, then stack the cube in the left hand on top."], "video_from_index": 0, "video_to_index": 754, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 82, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 82, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 82}
|
| 84 |
+
{"episode_index": 83, "length": 823, "tasks": ["Pick up one cube with the left hand and another cube with the right hand. First place the cube in the right hand at the target position, then stack the cube in the left hand on top."], "video_from_index": 0, "video_to_index": 823, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 83, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 83, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 83}
|
| 85 |
+
{"episode_index": 84, "length": 824, "tasks": ["Pick up one cube with the left hand and another cube with the right hand. First place the cube in the right hand at the target position, then stack the cube in the left hand on top."], "video_from_index": 0, "video_to_index": 824, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 84, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 84, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 84}
|
| 86 |
+
{"episode_index": 85, "length": 788, "tasks": ["Pick up one cube with the left hand and another cube with the right hand. First place the cube in the right hand at the target position, then stack the cube in the left hand on top."], "video_from_index": 0, "video_to_index": 788, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 85, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 85, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 85}
|
| 87 |
+
{"episode_index": 86, "length": 728, "tasks": ["Pick up one cube with the left hand and another cube with the right hand. First place the cube in the right hand at the target position, then stack the cube in the left hand on top."], "video_from_index": 0, "video_to_index": 728, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 86, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 86, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 86}
|
| 88 |
+
{"episode_index": 87, "length": 764, "tasks": ["Pick up one cube with the left hand and another cube with the right hand. First place the cube in the right hand at the target position, then stack the cube in the left hand on top."], "video_from_index": 0, "video_to_index": 764, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 87, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 87, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 87}
|
| 89 |
+
{"episode_index": 88, "length": 866, "tasks": ["Pick up one cube with the left hand and another cube with the right hand. First place the cube in the right hand at the target position, then stack the cube in the left hand on top."], "video_from_index": 0, "video_to_index": 866, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 88, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 88, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 88}
|
| 90 |
+
{"episode_index": 89, "length": 820, "tasks": ["Pick up one cube with the left hand and another cube with the right hand. First place the cube in the right hand at the target position, then stack the cube in the left hand on top."], "video_from_index": 0, "video_to_index": 820, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 89, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 89, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 89}
|
| 91 |
+
{"episode_index": 90, "length": 866, "tasks": ["Pick up one cube with the left hand and another cube with the right hand. First place the cube in the right hand at the target position, then stack the cube in the left hand on top."], "video_from_index": 0, "video_to_index": 866, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 90, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 90, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 90}
|
| 92 |
+
{"episode_index": 91, "length": 654, "tasks": ["Pick up one cube with the left hand and another cube with the right hand. First place the cube in the right hand at the target position, then stack the cube in the left hand on top."], "video_from_index": 0, "video_to_index": 654, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 91, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 91, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 91}
|
| 93 |
+
{"episode_index": 92, "length": 867, "tasks": ["Pick up one cube with the left hand and another cube with the right hand. First place the cube in the right hand at the target position, then stack the cube in the left hand on top."], "video_from_index": 0, "video_to_index": 867, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 92, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 92, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 92}
|
| 94 |
+
{"episode_index": 93, "length": 793, "tasks": ["Pick up one cube with the left hand and another cube with the right hand. First place the cube in the right hand at the target position, then stack the cube in the left hand on top."], "video_from_index": 0, "video_to_index": 793, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 93, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 93, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 93}
|
| 95 |
+
{"episode_index": 94, "length": 847, "tasks": ["Pick up one cube with the left hand and another cube with the right hand. First place the cube in the right hand at the target position, then stack the cube in the left hand on top."], "video_from_index": 0, "video_to_index": 847, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 94, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 94, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 94}
|
| 96 |
+
{"episode_index": 95, "length": 818, "tasks": ["Pick up one cube with the left hand and another cube with the right hand. First place the cube in the right hand at the target position, then stack the cube in the left hand on top."], "video_from_index": 0, "video_to_index": 818, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 95, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 95, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 95}
|
| 97 |
+
{"episode_index": 96, "length": 900, "tasks": ["Pick up one cube with the left hand and another cube with the right hand. First place the cube in the right hand at the target position, then stack the cube in the left hand on top."], "video_from_index": 0, "video_to_index": 900, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 96, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 96, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 96}
|
| 98 |
+
{"episode_index": 97, "length": 736, "tasks": ["Pick up one cube with the left hand and another cube with the right hand. First place the cube in the right hand at the target position, then stack the cube in the left hand on top."], "video_from_index": 0, "video_to_index": 736, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 97, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 97, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 97}
|
| 99 |
+
{"episode_index": 98, "length": 733, "tasks": ["Pick up one cube with the left hand and another cube with the right hand. First place the cube in the right hand at the target position, then stack the cube in the left hand on top."], "video_from_index": 0, "video_to_index": 733, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 98, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 98, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 98}
|
| 100 |
+
{"episode_index": 99, "length": 780, "tasks": ["Pick up one cube with the left hand and another cube with the right hand. First place the cube in the right hand at the target position, then stack the cube in the left hand on top."], "video_from_index": 0, "video_to_index": 780, "videos/observation.images.image_top/chunk_index": 0, "videos/observation.images.image_top/file_index": 99, "videos/observation.images.image_right/chunk_index": 0, "videos/observation.images.image_right/file_index": 99, "videos/observation.images.image_left/chunk_index": 0, "videos/observation.images.image_left/file_index": 99}
|
1500case/dataset/dm7_Stack_two_blocks_in_target_position/meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
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|
1500case/dataset/dm7_Stack_two_blocks_in_target_position/meta/info.json
ADDED
|
@@ -0,0 +1,181 @@
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|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": null,
|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
+
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|
| 12 |
+
"train": "0:100"
|
| 13 |
+
},
|
| 14 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 15 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 16 |
+
"features": {
|
| 17 |
+
"action": {
|
| 18 |
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|
| 19 |
+
"names": [
|
| 20 |
+
"leader_joint1_right.pos",
|
| 21 |
+
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|
| 22 |
+
"leader_joint3_right.pos",
|
| 23 |
+
"leader_joint4_right.pos",
|
| 24 |
+
"leader_joint5_right.pos",
|
| 25 |
+
"leader_joint6_right.pos",
|
| 26 |
+
"leader_gripper_right.pos",
|
| 27 |
+
"leader_joint1_left.pos",
|
| 28 |
+
"leader_joint2_left.pos",
|
| 29 |
+
"leader_joint3_left.pos",
|
| 30 |
+
"leader_joint4_left.pos",
|
| 31 |
+
"leader_joint5_left.pos",
|
| 32 |
+
"leader_joint6_left.pos",
|
| 33 |
+
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|
| 34 |
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],
|
| 35 |
+
"shape": [
|
| 36 |
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14
|
| 37 |
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]
|
| 38 |
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},
|
| 39 |
+
"observation.state": {
|
| 40 |
+
"dtype": "float32",
|
| 41 |
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"names": [
|
| 42 |
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|
| 43 |
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|
| 44 |
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"follower_joint3_right.pos",
|
| 45 |
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"follower_joint4_right.pos",
|
| 46 |
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"follower_joint5_right.pos",
|
| 47 |
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"follower_joint6_right.pos",
|
| 48 |
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"follower_gripper_right.pos",
|
| 49 |
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"follower_pose_right_x.pos",
|
| 50 |
+
"follower_pose_right_y.pos",
|
| 51 |
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"follower_pose_right_z.pos",
|
| 52 |
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"follower_pose_right_rx.pos",
|
| 53 |
+
"follower_pose_right_ry.pos",
|
| 54 |
+
"follower_pose_right_rz.pos",
|
| 55 |
+
"follower_joint1_left.pos",
|
| 56 |
+
"follower_joint2_left.pos",
|
| 57 |
+
"follower_joint3_left.pos",
|
| 58 |
+
"follower_joint4_left.pos",
|
| 59 |
+
"follower_joint5_left.pos",
|
| 60 |
+
"follower_joint6_left.pos",
|
| 61 |
+
"follower_gripper_left.pos",
|
| 62 |
+
"follower_pose_left_x.pos",
|
| 63 |
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"follower_pose_left_y.pos",
|
| 64 |
+
"follower_pose_left_z.pos",
|
| 65 |
+
"follower_pose_left_rx.pos",
|
| 66 |
+
"follower_pose_left_ry.pos",
|
| 67 |
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"follower_pose_left_rz.pos"
|
| 68 |
+
],
|
| 69 |
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"shape": [
|
| 70 |
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|
| 71 |
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]
|
| 72 |
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},
|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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],
|
| 80 |
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"names": [
|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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],
|
| 85 |
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|
| 86 |
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|
| 87 |
+
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|
| 88 |
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|
| 89 |
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|
| 90 |
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"video.codec": "libx264",
|
| 91 |
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"video.pix_fmt": "yuv420p",
|
| 92 |
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"video.is_depth_map": false,
|
| 93 |
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"has_audio": false
|
| 94 |
+
}
|
| 95 |
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},
|
| 96 |
+
"observation.images.image_right": {
|
| 97 |
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"dtype": "video",
|
| 98 |
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"shape": [
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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],
|
| 103 |
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"names": [
|
| 104 |
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"height",
|
| 105 |
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"width",
|
| 106 |
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"channels"
|
| 107 |
+
],
|
| 108 |
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"info": {
|
| 109 |
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"video.fps": 30,
|
| 110 |
+
"video.height": 480,
|
| 111 |
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|
| 112 |
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"video.channels": 3,
|
| 113 |
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"video.codec": "libx264",
|
| 114 |
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"video.pix_fmt": "yuv420p",
|
| 115 |
+
"video.is_depth_map": false,
|
| 116 |
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"has_audio": false
|
| 117 |
+
}
|
| 118 |
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},
|
| 119 |
+
"observation.images.image_left": {
|
| 120 |
+
"dtype": "video",
|
| 121 |
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"shape": [
|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
+
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| 224 |
+
38
|
| 225 |
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],
|
| 226 |
+
"max": [
|
| 227 |
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89154
|
| 228 |
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],
|
| 229 |
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"mean": [
|
| 230 |
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|
| 231 |
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],
|
| 232 |
+
"std": [
|
| 233 |
+
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|
| 234 |
+
],
|
| 235 |
+
"count": [
|
| 236 |
+
85350
|
| 237 |
+
]
|
| 238 |
+
},
|
| 239 |
+
"task_index": {
|
| 240 |
+
"min": [
|
| 241 |
+
0
|
| 242 |
+
],
|
| 243 |
+
"max": [
|
| 244 |
+
0
|
| 245 |
+
],
|
| 246 |
+
"mean": [
|
| 247 |
+
0.0
|
| 248 |
+
],
|
| 249 |
+
"std": [
|
| 250 |
+
0.0
|
| 251 |
+
],
|
| 252 |
+
"count": [
|
| 253 |
+
85350
|
| 254 |
+
]
|
| 255 |
+
},
|
| 256 |
+
"episode_index": {
|
| 257 |
+
"min": [
|
| 258 |
+
0
|
| 259 |
+
],
|
| 260 |
+
"max": [
|
| 261 |
+
99
|
| 262 |
+
],
|
| 263 |
+
"mean": [
|
| 264 |
+
49.345038078500295
|
| 265 |
+
],
|
| 266 |
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"std": [
|
| 267 |
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|
| 268 |
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],
|
| 269 |
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"count": [
|
| 270 |
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|
| 271 |
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]
|
| 272 |
+
}
|
| 273 |
+
}
|
1500case/dataset/dm7_Stack_two_blocks_in_target_position/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "Pick up one cube with the left hand and another cube with the right hand. First place the cube in the right hand at the target position, then stack the cube in the left hand on top."}
|
1500case/dataset_manifest.original.json
ADDED
|
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|
|
|
README.md
CHANGED
|
@@ -1,3 +1,19 @@
|
|
| 1 |
---
|
| 2 |
-
|
| 3 |
---
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
---
|
| 2 |
+
pretty_name: RSSR 1500-case and 150-case source data
|
| 3 |
---
|
| 4 |
+
|
| 5 |
+
# RSSR source data and assets
|
| 6 |
+
|
| 7 |
+
This repository contains the source data and task assets used by the RSSR experiments.
|
| 8 |
+
|
| 9 |
+
| Directory | Contents |
|
| 10 |
+
| --- | --- |
|
| 11 |
+
| `1500case/dataset/` | 1,500 demonstrations from 15 tasks, with Parquet actions and three camera videos per case |
|
| 12 |
+
| `1500case/assets/` | Engineered Sim1 assets for those 15 tasks |
|
| 13 |
+
| `150case/dataset/` | 150 demonstrations from drawer, block-stacking, and cup-stacking tasks, with Parquet actions and three camera videos per case |
|
| 14 |
+
| `150case/cases/` | Fixed source actions, scenes, and task assets for the 150 cases |
|
| 15 |
+
| `150case/success_cases/` | Robot commands and independent physical replay evidence for 19 historically successful cases |
|
| 16 |
+
|
| 17 |
+
The 19 successful cases were accumulated across different experiments. Five accepted Luna-agent replays are also retained under the same case IDs. See `150case/success_cases/manifest.json` for the case list and provenance.
|
| 18 |
+
|
| 19 |
+
The code and the 1500-case operator and experience library are maintained in the [RSSR GitHub repository](https://github.com/LiuY1Chen/rssr).
|