Add 150case_data_enhance_blender_franka_v3_fixedgrasp/block (9 files)
Browse files- 150case_data_enhance_blender_franka_v3_fixedgrasp/block/meta/episodes.jsonl +100 -0
- 150case_data_enhance_blender_franka_v3_fixedgrasp/block/meta/episodes_stats.jsonl +0 -0
- 150case_data_enhance_blender_franka_v3_fixedgrasp/block/meta/info.json +203 -0
- 150case_data_enhance_blender_franka_v3_fixedgrasp/block/meta/source_cases.jsonl +0 -0
- 150case_data_enhance_blender_franka_v3_fixedgrasp/block/meta/stats.json +494 -0
- 150case_data_enhance_blender_franka_v3_fixedgrasp/block/meta/tasks.jsonl +1 -0
- 150case_data_enhance_blender_franka_v3_fixedgrasp/block/official_reader_receipt.json +20 -0
- 150case_data_enhance_blender_franka_v3_fixedgrasp/block/packaging_receipt.json +14 -0
- 150case_data_enhance_blender_franka_v3_fixedgrasp/manifest_block.json +1643 -0
150case_data_enhance_blender_franka_v3_fixedgrasp/block/meta/episodes.jsonl
ADDED
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@@ -0,0 +1,100 @@
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| 1 |
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{"episode_index": 0, "length": 477, "tasks": ["Stack the red cube on top of the green cube."]}
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| 2 |
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{"episode_index": 1, "length": 472, "tasks": ["Stack the red cube on top of the green cube."]}
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| 3 |
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{"episode_index": 2, "length": 451, "tasks": ["Stack the red cube on top of the green cube."]}
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| 4 |
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{"episode_index": 3, "length": 485, "tasks": ["Stack the red cube on top of the green cube."]}
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| 5 |
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{"episode_index": 4, "length": 449, "tasks": ["Stack the red cube on top of the green cube."]}
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| 6 |
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{"episode_index": 5, "length": 492, "tasks": ["Stack the red cube on top of the green cube."]}
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| 7 |
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{"episode_index": 6, "length": 449, "tasks": ["Stack the red cube on top of the green cube."]}
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| 8 |
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{"episode_index": 7, "length": 473, "tasks": ["Stack the red cube on top of the green cube."]}
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| 9 |
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{"episode_index": 8, "length": 454, "tasks": ["Stack the red cube on top of the green cube."]}
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| 10 |
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{"episode_index": 9, "length": 466, "tasks": ["Stack the red cube on top of the green cube."]}
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| 11 |
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{"episode_index": 10, "length": 465, "tasks": ["Stack the red cube on top of the green cube."]}
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{"episode_index": 11, "length": 501, "tasks": ["Stack the red cube on top of the green cube."]}
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{"episode_index": 12, "length": 451, "tasks": ["Stack the red cube on top of the green cube."]}
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{"episode_index": 13, "length": 458, "tasks": ["Stack the red cube on top of the green cube."]}
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| 15 |
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{"episode_index": 14, "length": 459, "tasks": ["Stack the red cube on top of the green cube."]}
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| 16 |
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{"episode_index": 15, "length": 451, "tasks": ["Stack the red cube on top of the green cube."]}
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| 17 |
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{"episode_index": 16, "length": 473, "tasks": ["Stack the red cube on top of the green cube."]}
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| 18 |
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{"episode_index": 17, "length": 481, "tasks": ["Stack the red cube on top of the green cube."]}
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| 19 |
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{"episode_index": 18, "length": 494, "tasks": ["Stack the red cube on top of the green cube."]}
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| 20 |
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{"episode_index": 19, "length": 453, "tasks": ["Stack the red cube on top of the green cube."]}
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| 21 |
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{"episode_index": 20, "length": 445, "tasks": ["Stack the red cube on top of the green cube."]}
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| 22 |
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{"episode_index": 21, "length": 467, "tasks": ["Stack the red cube on top of the green cube."]}
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| 23 |
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{"episode_index": 22, "length": 460, "tasks": ["Stack the red cube on top of the green cube."]}
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| 24 |
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{"episode_index": 23, "length": 448, "tasks": ["Stack the red cube on top of the green cube."]}
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| 25 |
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{"episode_index": 24, "length": 463, "tasks": ["Stack the red cube on top of the green cube."]}
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| 26 |
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{"episode_index": 25, "length": 469, "tasks": ["Stack the red cube on top of the green cube."]}
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| 27 |
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{"episode_index": 26, "length": 469, "tasks": ["Stack the red cube on top of the green cube."]}
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| 28 |
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{"episode_index": 27, "length": 464, "tasks": ["Stack the red cube on top of the green cube."]}
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| 29 |
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{"episode_index": 28, "length": 461, "tasks": ["Stack the red cube on top of the green cube."]}
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| 30 |
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{"episode_index": 29, "length": 472, "tasks": ["Stack the red cube on top of the green cube."]}
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| 31 |
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{"episode_index": 30, "length": 472, "tasks": ["Stack the red cube on top of the green cube."]}
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| 32 |
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{"episode_index": 31, "length": 455, "tasks": ["Stack the red cube on top of the green cube."]}
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| 33 |
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{"episode_index": 32, "length": 466, "tasks": ["Stack the red cube on top of the green cube."]}
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| 34 |
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{"episode_index": 33, "length": 467, "tasks": ["Stack the red cube on top of the green cube."]}
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| 35 |
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{"episode_index": 34, "length": 493, "tasks": ["Stack the red cube on top of the green cube."]}
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| 36 |
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{"episode_index": 35, "length": 454, "tasks": ["Stack the red cube on top of the green cube."]}
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| 37 |
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{"episode_index": 36, "length": 482, "tasks": ["Stack the red cube on top of the green cube."]}
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| 38 |
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{"episode_index": 37, "length": 454, "tasks": ["Stack the red cube on top of the green cube."]}
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| 39 |
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{"episode_index": 38, "length": 471, "tasks": ["Stack the red cube on top of the green cube."]}
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| 40 |
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{"episode_index": 39, "length": 455, "tasks": ["Stack the red cube on top of the green cube."]}
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| 41 |
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{"episode_index": 40, "length": 468, "tasks": ["Stack the red cube on top of the green cube."]}
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| 42 |
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{"episode_index": 41, "length": 432, "tasks": ["Stack the red cube on top of the green cube."]}
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| 43 |
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{"episode_index": 42, "length": 490, "tasks": ["Stack the red cube on top of the green cube."]}
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| 44 |
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{"episode_index": 43, "length": 468, "tasks": ["Stack the red cube on top of the green cube."]}
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| 45 |
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{"episode_index": 44, "length": 461, "tasks": ["Stack the red cube on top of the green cube."]}
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| 46 |
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{"episode_index": 45, "length": 466, "tasks": ["Stack the red cube on top of the green cube."]}
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| 47 |
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{"episode_index": 46, "length": 487, "tasks": ["Stack the red cube on top of the green cube."]}
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| 48 |
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{"episode_index": 47, "length": 457, "tasks": ["Stack the red cube on top of the green cube."]}
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| 49 |
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{"episode_index": 48, "length": 470, "tasks": ["Stack the red cube on top of the green cube."]}
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| 50 |
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{"episode_index": 49, "length": 465, "tasks": ["Stack the red cube on top of the green cube."]}
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| 51 |
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{"episode_index": 50, "length": 465, "tasks": ["Stack the red cube on top of the green cube."]}
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| 52 |
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{"episode_index": 51, "length": 462, "tasks": ["Stack the red cube on top of the green cube."]}
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| 53 |
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{"episode_index": 52, "length": 475, "tasks": ["Stack the red cube on top of the green cube."]}
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| 54 |
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{"episode_index": 53, "length": 491, "tasks": ["Stack the red cube on top of the green cube."]}
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| 55 |
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{"episode_index": 54, "length": 457, "tasks": ["Stack the red cube on top of the green cube."]}
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| 56 |
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{"episode_index": 55, "length": 472, "tasks": ["Stack the red cube on top of the green cube."]}
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| 57 |
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{"episode_index": 56, "length": 439, "tasks": ["Stack the red cube on top of the green cube."]}
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| 58 |
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{"episode_index": 57, "length": 481, "tasks": ["Stack the red cube on top of the green cube."]}
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| 59 |
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{"episode_index": 58, "length": 488, "tasks": ["Stack the red cube on top of the green cube."]}
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| 60 |
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{"episode_index": 59, "length": 488, "tasks": ["Stack the red cube on top of the green cube."]}
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| 61 |
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{"episode_index": 60, "length": 455, "tasks": ["Stack the red cube on top of the green cube."]}
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| 62 |
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{"episode_index": 61, "length": 454, "tasks": ["Stack the red cube on top of the green cube."]}
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| 63 |
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{"episode_index": 62, "length": 479, "tasks": ["Stack the red cube on top of the green cube."]}
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| 64 |
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{"episode_index": 63, "length": 479, "tasks": ["Stack the red cube on top of the green cube."]}
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| 65 |
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{"episode_index": 64, "length": 499, "tasks": ["Stack the red cube on top of the green cube."]}
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| 66 |
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{"episode_index": 65, "length": 475, "tasks": ["Stack the red cube on top of the green cube."]}
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| 67 |
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{"episode_index": 66, "length": 459, "tasks": ["Stack the red cube on top of the green cube."]}
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| 68 |
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{"episode_index": 67, "length": 495, "tasks": ["Stack the red cube on top of the green cube."]}
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| 69 |
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{"episode_index": 68, "length": 490, "tasks": ["Stack the red cube on top of the green cube."]}
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| 70 |
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{"episode_index": 69, "length": 457, "tasks": ["Stack the red cube on top of the green cube."]}
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| 71 |
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{"episode_index": 70, "length": 454, "tasks": ["Stack the red cube on top of the green cube."]}
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| 72 |
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{"episode_index": 71, "length": 473, "tasks": ["Stack the red cube on top of the green cube."]}
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| 73 |
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{"episode_index": 72, "length": 483, "tasks": ["Stack the red cube on top of the green cube."]}
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| 74 |
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{"episode_index": 73, "length": 455, "tasks": ["Stack the red cube on top of the green cube."]}
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| 75 |
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{"episode_index": 74, "length": 465, "tasks": ["Stack the red cube on top of the green cube."]}
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| 76 |
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{"episode_index": 75, "length": 475, "tasks": ["Stack the red cube on top of the green cube."]}
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| 77 |
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{"episode_index": 76, "length": 455, "tasks": ["Stack the red cube on top of the green cube."]}
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| 78 |
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{"episode_index": 77, "length": 438, "tasks": ["Stack the red cube on top of the green cube."]}
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| 79 |
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{"episode_index": 78, "length": 485, "tasks": ["Stack the red cube on top of the green cube."]}
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| 80 |
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{"episode_index": 79, "length": 449, "tasks": ["Stack the red cube on top of the green cube."]}
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| 81 |
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{"episode_index": 80, "length": 461, "tasks": ["Stack the red cube on top of the green cube."]}
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| 82 |
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{"episode_index": 81, "length": 465, "tasks": ["Stack the red cube on top of the green cube."]}
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| 83 |
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{"episode_index": 82, "length": 464, "tasks": ["Stack the red cube on top of the green cube."]}
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| 84 |
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{"episode_index": 83, "length": 490, "tasks": ["Stack the red cube on top of the green cube."]}
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| 85 |
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{"episode_index": 84, "length": 460, "tasks": ["Stack the red cube on top of the green cube."]}
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| 86 |
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{"episode_index": 85, "length": 477, "tasks": ["Stack the red cube on top of the green cube."]}
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| 87 |
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{"episode_index": 86, "length": 458, "tasks": ["Stack the red cube on top of the green cube."]}
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| 88 |
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{"episode_index": 87, "length": 485, "tasks": ["Stack the red cube on top of the green cube."]}
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| 89 |
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{"episode_index": 88, "length": 478, "tasks": ["Stack the red cube on top of the green cube."]}
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| 90 |
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{"episode_index": 89, "length": 437, "tasks": ["Stack the red cube on top of the green cube."]}
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| 91 |
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{"episode_index": 90, "length": 492, "tasks": ["Stack the red cube on top of the green cube."]}
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| 92 |
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{"episode_index": 91, "length": 462, "tasks": ["Stack the red cube on top of the green cube."]}
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| 93 |
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{"episode_index": 92, "length": 445, "tasks": ["Stack the red cube on top of the green cube."]}
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| 94 |
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{"episode_index": 93, "length": 453, "tasks": ["Stack the red cube on top of the green cube."]}
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| 95 |
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{"episode_index": 94, "length": 494, "tasks": ["Stack the red cube on top of the green cube."]}
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| 96 |
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{"episode_index": 95, "length": 484, "tasks": ["Stack the red cube on top of the green cube."]}
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| 97 |
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{"episode_index": 96, "length": 494, "tasks": ["Stack the red cube on top of the green cube."]}
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| 98 |
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{"episode_index": 97, "length": 495, "tasks": ["Stack the red cube on top of the green cube."]}
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| 99 |
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{"episode_index": 98, "length": 469, "tasks": ["Stack the red cube on top of the green cube."]}
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| 100 |
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{"episode_index": 99, "length": 496, "tasks": ["Stack the red cube on top of the green cube."]}
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150case_data_enhance_blender_franka_v3_fixedgrasp/block/meta/episodes_stats.jsonl
ADDED
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150case_data_enhance_blender_franka_v3_fixedgrasp/block/meta/info.json
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| 1 |
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{
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| 2 |
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"action_contract": {
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| 3 |
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"gripper": "Robotiq 2F-85 pad opening (m), 0 = close with the force limit",
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| 4 |
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"semantics": "absolute_desired_joint_target",
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| 5 |
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"unit": "rad; gripper opening m"
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| 6 |
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},
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| 7 |
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"cameras": {
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| 8 |
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"cam_high": "RealSense D455 on the arch behind the robot (fitted to the user frame)",
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| 9 |
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"cam_left_wrist": "RealSense D405, nominal 2F-85 bracket mount (not hardware-calibrated)",
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| 10 |
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"cam_right_wrist": "RealSense D405, nominal 2F-85 bracket mount (not hardware-calibrated)"
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| 11 |
+
},
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| 12 |
+
"campaign_id": "fr3_duo_v3_fixedgrasp_20261107",
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| 13 |
+
"chunks_size": 1000,
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| 14 |
+
"codebase_version": "v2.1",
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| 15 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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| 16 |
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"description": "FR3 Duo v3 (stack_blocks): v2's placements, one fixed grasp per hand, descent at Sim2 speed with a 0.25 s dwell before closing; S1 task objects, refine stage; layout fr3_site_20261105d",
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| 17 |
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"features": {
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| 18 |
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"action": {
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| 19 |
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"dtype": "float32",
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| 20 |
+
"names": [
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| 21 |
+
[
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| 22 |
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"left_fr3v2_joint1",
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| 23 |
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"left_fr3v2_joint2",
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| 24 |
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"left_fr3v2_joint3",
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| 25 |
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"left_fr3v2_joint4",
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| 26 |
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"left_fr3v2_joint5",
|
| 27 |
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150case_data_enhance_blender_franka_v3_fixedgrasp/block/meta/source_cases.jsonl
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150case_data_enhance_blender_franka_v3_fixedgrasp/block/meta/stats.json
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@@ -0,0 +1,494 @@
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| 480 |
+
],
|
| 481 |
+
"max": [
|
| 482 |
+
99.0
|
| 483 |
+
],
|
| 484 |
+
"mean": [
|
| 485 |
+
49.649372545671845
|
| 486 |
+
],
|
| 487 |
+
"min": [
|
| 488 |
+
0.0
|
| 489 |
+
],
|
| 490 |
+
"std": [
|
| 491 |
+
28.903250881286546
|
| 492 |
+
]
|
| 493 |
+
}
|
| 494 |
+
}
|
150case_data_enhance_blender_franka_v3_fixedgrasp/block/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task": "Stack the red cube on top of the green cube.", "task_index": 0}
|
150case_data_enhance_blender_franka_v3_fixedgrasp/block/official_reader_receipt.json
ADDED
|
@@ -0,0 +1,20 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"accepted": true,
|
| 3 |
+
"action_horizon_shape": [
|
| 4 |
+
50,
|
| 5 |
+
16
|
| 6 |
+
],
|
| 7 |
+
"camera_shape": [
|
| 8 |
+
3,
|
| 9 |
+
224,
|
| 10 |
+
224
|
| 11 |
+
],
|
| 12 |
+
"episodes": 100,
|
| 13 |
+
"frames": 46856,
|
| 14 |
+
"reader": "/pfs/yichen/rssr_data_enhance+causal_map/pi0.5/training/C498_originalS1_60k_20261025_attempt_01/data_reader_02/vendor/lerobot",
|
| 15 |
+
"samples_checked": 300,
|
| 16 |
+
"schema": "rssr.fr3_duo.official_reader.v1",
|
| 17 |
+
"state_shape": [
|
| 18 |
+
16
|
| 19 |
+
]
|
| 20 |
+
}
|
150case_data_enhance_blender_franka_v3_fixedgrasp/block/packaging_receipt.json
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"code_sha256": "6a3ebb789911434a8a7b458a7c858f53aa4d82986e37da8b1bc05366ba01678f",
|
| 3 |
+
"episodes": 100,
|
| 4 |
+
"fps": 30,
|
| 5 |
+
"frames": 46856,
|
| 6 |
+
"package_complete": true,
|
| 7 |
+
"render": "/pfs/yichen/rssr_data_enhance+causal_map/result/franka_fr3_duo_v3_fixedgrasp_20261107_attempt_01/render/stack_blocks",
|
| 8 |
+
"schema": "rssr.fr3_duo.local_lerobot_package.v1",
|
| 9 |
+
"selection": "/pfs/yichen/rssr_data_enhance+causal_map/result/franka_fr3_duo_v3_fixedgrasp_20261107_attempt_01/refine/stack_blocks/selection.json",
|
| 10 |
+
"selection_sha256": "724b7c156871a821db45190695c12f9ab3e75e5c740c24f55377b6f334d27ad0",
|
| 11 |
+
"uploaded_to_hf": false,
|
| 12 |
+
"verification_sha256": "4908c79768f831cefffacc04c1f428075ddb7aab4955d6b0bd08fd8e5ed8d59a",
|
| 13 |
+
"videos": 300
|
| 14 |
+
}
|
150case_data_enhance_blender_franka_v3_fixedgrasp/manifest_block.json
ADDED
|
@@ -0,0 +1,1643 @@
|
|
|
|
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|
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|
|
|
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|
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