File size: 15,544 Bytes
5d8d986
 
 
926956c
 
 
 
 
bd9e4f2
 
 
 
 
f901c77
 
 
5fcd522
 
dc8d4b6
 
 
 
 
 
 
 
5fcd522
 
bd9e4f2
 
5d8d986
f901c77
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
5fcd522
 
bd841a7
5fcd522
 
fe1248b
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
5fcd522
 
 
 
 
 
 
 
 
 
 
 
 
 
 
fe1248b
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
5fcd522
e2a24b5
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
5fcd522
 
bd841a7
5fcd522
 
fe1248b
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
5fcd522
 
 
 
 
 
 
 
 
 
 
 
 
 
 
fe1248b
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
7848e79
 
 
 
458b08a
7848e79
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
458b08a
 
7848e79
 
458b08a
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
7848e79
 
dc8d4b6
 
 
 
 
 
 
 
 
 
 
 
 
 
43ae484
dc8d4b6
 
 
 
 
 
 
 
 
 
 
 
5fcd522
fe1248b
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
43ae484
 
 
3a81d8f
5d8d986
 
 
 
3a81d8f
b4463c7
 
 
3a81d8f
 
 
 
 
43ae484
3a81d8f
 
 
 
 
 
 
 
 
 
 
43ae484
5fcd522
4f322d3
43ae484
 
fe1248b
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
43ae484
 
 
 
 
 
 
 
 
 
 
fe1248b
5d8d986
3a81d8f
dc8d4b6
458b08a
5fcd522
5d8d986
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
{
  "schema_version": 1,
  "repo_id": "wzlllong/value-model-benchmark-training-data",
  "release_format": "LeRobot Dataset v3.0",
  "documentation": {
    "en": "README.md",
    "zh": "README_zh.md"
  },
  "domains": [
    {
      "domain": "simulation",
      "name_en": "Simulation",
      "name_zh": "仿真世界",
      "subsets": [
        "simulation-full-shot-data",
        "simulation-one-shot-data"
      ],
      "platform": "ARX"
    },
    {
      "domain": "real-world",
      "name_en": "Real-World",
      "name_zh": "真实世界",
      "subsets": [
        "real-world-full-shot-data",
        "real-world-one-shot-data"
      ],
      "platform": "AgiBot Genie02"
    }
  ],
  "available_subsets": [
    {
      "subset_id": "simulation-full-shot-data",
      "domain": "simulation",
      "shot_regime": "full-shot",
      "availability": "available",
      "tasks": 15,
      "episodes_per_task": 100,
      "episodes": 1500,
      "path_in_repo": "data/simulation/full-shot",
      "name_en": "Simulation Full-Shot Training Data",
      "name_zh": "仿真 Full-Shot 训练集",
      "format": "LeRobot v3.0",
      "robot_type": "unified_robot",
      "frames": 789612,
      "fps": 25,
      "camera_streams_per_episode": 3,
      "state_dimensions": 14,
      "action_dimensions": 14,
      "splits": {
        "train": "0:1500"
      },
      "reference_repo": "RoboDojo-Benchmark/RoboDojo",
      "source_episodes": {
        "RoboDojo": 1393,
        "supplemental": 107
      },
      "video_codecs": [
        "av1",
        "h264"
      ],
      "videos": 4500,
      "platform": "ARX",
      "source_description_en": "Based on open-source RoboDojo data reviewed by our team, with selected demonstrations recorded again.",
      "source_description_zh": "基于 RoboDojo 开源数据,经团队审核后,对部分示例重新采集。",
      "display_task_names": [
        "Arrange Largest Number",
        "Fill Pen Holder",
        "Fold Clothes",
        "Hang Mugs",
        "Insert Tubes",
        "Make Toast",
        "Organize Table",
        "Pack Objects Into Box",
        "Play Stacking Toy",
        "Press By Number",
        "Put Bottles Into Dustbin",
        "Stack Blocks",
        "Store Laptop And Headphones",
        "Swap Blocks",
        "Sweep Blocks"
      ],
      "source_task_keys": [
        "arrange_largest_number",
        "fill_pen_holder",
        "fold_clothes",
        "hang_mugs",
        "insert_tubes",
        "make_toast",
        "organize_table",
        "pack_objects_into_box",
        "play_stacking_toy",
        "press_by_number",
        "put_bottles_into_dustbin",
        "stack_blocks",
        "store_laptop_and_headphones",
        "swap_blocks",
        "sweep_blocks"
      ],
      "display_task_names_zh": [
        "排列数字组成最大数",
        "装填笔筒",
        "折叠衣物",
        "悬挂马克杯",
        "插入管子",
        "制作吐司",
        "整理桌面",
        "将物品装入盒中",
        "操作堆叠玩具",
        "依照数字按按钮",
        "将瓶子放入垃圾桶",
        "堆叠积木",
        "收纳笔记本电脑与耳机",
        "交换积木位置",
        "清扫积木"
      ]
    },
    {
      "subset_id": "simulation-one-shot-data",
      "domain": "simulation",
      "shot_regime": "one-shot",
      "availability": "available",
      "tasks": 15,
      "episodes_per_task": 1,
      "episodes": 15,
      "path_in_repo": "data/simulation/one-shot",
      "name_en": "Simulation One-Shot Training Data",
      "name_zh": "仿真 One-Shot 训练集",
      "format": "LeRobot v3.0",
      "robot_type": "unified_robot",
      "frames": 8080,
      "fps": 25,
      "camera_streams_per_episode": 3,
      "state_dimensions": 14,
      "action_dimensions": 14,
      "splits": {
        "train": "0:15"
      },
      "video_codecs": [
        "av1"
      ],
      "episode_mapping": "data/simulation/one-shot/provenance/episode_mapping.json",
      "videos": 45,
      "platform": "ARX",
      "source_description_en": "Based on open-source RoboDojo data reviewed by our team, with selected demonstrations recorded again.",
      "source_description_zh": "基于 RoboDojo 开源数据,经团队审核后,对部分示例重新采集。",
      "display_task_names": [
        "Arrange Largest Number",
        "Fill Pen Holder",
        "Fold Clothes",
        "Hang Mugs",
        "Insert Tubes",
        "Make Toast",
        "Organize Table",
        "Pack Objects Into Box",
        "Play Stacking Toy",
        "Press By Number",
        "Put Bottles Into Dustbin",
        "Stack Blocks",
        "Store Laptop And Headphones",
        "Swap Blocks",
        "Sweep Blocks"
      ],
      "source_task_keys": [
        "arrange_largest_number",
        "fill_pen_holder",
        "fold_clothes",
        "hang_mugs",
        "insert_tubes",
        "make_toast",
        "organize_table",
        "pack_objects_into_box",
        "play_stacking_toy",
        "press_by_number",
        "put_bottles_into_dustbin",
        "stack_blocks",
        "store_laptop_and_headphones",
        "swap_blocks",
        "sweep_blocks"
      ],
      "display_task_names_zh": [
        "排列数字组成最大数",
        "装填笔筒",
        "折叠衣物",
        "悬挂马克杯",
        "插入管子",
        "制作吐司",
        "整理桌面",
        "将物品装入盒中",
        "操作堆叠玩具",
        "依照数字按按钮",
        "将瓶子放入垃圾桶",
        "堆叠积木",
        "收纳笔记本电脑与耳机",
        "交换积木位置",
        "清扫积木"
      ],
      "annotations": {
        "subtasks": {
          "path_in_repo": "data/simulation/one-shot/annotations/subtasks",
          "revision": "7fd21cb2519b4d59cbe9fe8b23cfdf477e3ad145",
          "status": "user_confirmed_release",
          "target": "active_semantic_subtask",
          "scope": "training_demonstrations",
          "paper": "https://arxiv.org/abs/2610.26663",
          "paper_section": "C.2",
          "tasks": 15,
          "episodes": 15,
          "segments": 58,
          "frames": 8080,
          "fps": 25,
          "join_keys": [
            "episode_index",
            "frame_index"
          ],
          "global_index_matches": "index",
          "frame_labels": "data/simulation/one-shot/annotations/subtasks/frame_labels.parquet",
          "taxonomy": "data/simulation/one-shot/annotations/subtasks/taxonomy.json",
          "size_bytes": 146350,
          "payload_size_bytes": 146350,
          "documentation": "data/simulation/one-shot/annotations/subtasks/README.md",
          "interval_convention": "[start_frame,end_frame)",
          "boundary_mask": "boundary_uncertain",
          "payload_files": 24,
          "dataset_labeler": {
            "path_in_repo": "data/simulation/one-shot/annotations/subtasks/dataset_labeler",
            "format": "dataset_labeler_sia_cspc",
            "task_files": [
              "data/simulation/one-shot/annotations/subtasks/dataset_labeler/arrange_largest_number_sia_cspc_annotations.json",
              "data/simulation/one-shot/annotations/subtasks/dataset_labeler/fill_pen_holder_sia_cspc_annotations.json",
              "data/simulation/one-shot/annotations/subtasks/dataset_labeler/fold_clothes_sia_cspc_annotations.json",
              "data/simulation/one-shot/annotations/subtasks/dataset_labeler/hang_mugs_sia_cspc_annotations.json",
              "data/simulation/one-shot/annotations/subtasks/dataset_labeler/insert_tubes_sia_cspc_annotations.json",
              "data/simulation/one-shot/annotations/subtasks/dataset_labeler/make_toast_sia_cspc_annotations.json",
              "data/simulation/one-shot/annotations/subtasks/dataset_labeler/organize_table_sia_cspc_annotations.json",
              "data/simulation/one-shot/annotations/subtasks/dataset_labeler/pack_objects_into_box_sia_cspc_annotations.json",
              "data/simulation/one-shot/annotations/subtasks/dataset_labeler/play_stacking_toy_sia_cspc_annotations.json",
              "data/simulation/one-shot/annotations/subtasks/dataset_labeler/press_by_number_sia_cspc_annotations.json",
              "data/simulation/one-shot/annotations/subtasks/dataset_labeler/put_bottles_into_dustbin_sia_cspc_annotations.json",
              "data/simulation/one-shot/annotations/subtasks/dataset_labeler/stack_blocks_sia_cspc_annotations.json",
              "data/simulation/one-shot/annotations/subtasks/dataset_labeler/store_laptop_and_headphones_sia_cspc_annotations.json",
              "data/simulation/one-shot/annotations/subtasks/dataset_labeler/swap_blocks_sia_cspc_annotations.json",
              "data/simulation/one-shot/annotations/subtasks/dataset_labeler/sweep_blocks_sia_cspc_annotations.json"
            ],
            "exceptional_intervals": "data/simulation/one-shot/annotations/subtasks/dataset_labeler/exceptional_intervals.json",
            "transfer_export_records": 15,
            "transfer_export_boundary_points": 73,
            "record_fields": [
              "episode",
              "marks",
              "duration",
              "task",
              "metric",
              "group",
              "episode_name",
              "gap"
            ],
            "video_key": "dataset-root-relative head-camera video path",
            "episode_field": "same dataset-root-relative video path as the object key",
            "marks_fields": [
              "type",
              "frame",
              "time"
            ],
            "mark_type": "s",
            "boundary_convention": "N+1 points for N subtasks; consecutive marks define [start_frame,end_frame); terminal frame equals episode length",
            "subtask_order": "S1…Sn",
            "time_unit": "seconds",
            "metric": "SIA+CSPC",
            "group": "one-shot",
            "gap": 20
          }
        }
      }
    },
    {
      "subset_id": "real-world-full-shot-data",
      "domain": "real-world",
      "shot_regime": "full-shot",
      "name_en": "Real-World Full-Shot Training Data",
      "name_zh": "真机 Full-Shot 训练集",
      "availability": "available",
      "path_in_repo": "data/real-world/full-shot",
      "format": "LeRobot v3.0",
      "robot_type": "G2A",
      "tasks": 20,
      "episodes": 2000,
      "episodes_per_task": 100,
      "frames": 1534321,
      "fps": 30,
      "camera_streams_per_episode": 3,
      "state_dimensions": 290,
      "action_dimensions": 52,
      "splits": {
        "train": "0:2000"
      },
      "action_representations": [
        "joint-targets",
        "end-effector-target-poses"
      ],
      "end_effector_target_source": "forward kinematics from joint actions",
      "videos": 6000,
      "platform": "AgiBot Genie02",
      "display_task_names": [
        "Transfer Blocks Using Plate",
        "Enter Keypad Number Sequence",
        "Set the Table",
        "Arrange Seasoning Jars",
        "Load Plastic Plates Into Rack",
        "Press Button Five Times",
        "Place Pot On Induction Cooker",
        "Organize Desktop Workstation",
        "Organize Books And Pen",
        "Arrange Family Tea Set",
        "Operate Drawers In Sequence",
        "Sort Blocks in Order",
        "Fill And Place Pen Holder",
        "Organize Cosmetics Storage Box",
        "Strike Drum Five Times",
        "Apply Dish Soap Repeatedly",
        "Season Meat Skewers Repeatedly",
        "Pack Items For Shipping",
        "Arrange Flowers and Reed Diffuser",
        "Prepare Breakfast"
      ],
      "display_task_names_zh": [
        "用盘子转移积木",
        "输入键盘数字序列",
        "摆放餐具",
        "摆放调料罐",
        "将塑料盘装入盘架",
        "按按钮五次",
        "将小锅放上电磁炉",
        "整理桌面工作区",
        "整理书本和笔",
        "摆放家庭茶具",
        "按顺序打开与关闭抽屉",
        "按顺序摆放彩色积木",
        "装填并摆放笔筒",
        "整理化妆品收纳盒",
        "敲鼓五次",
        "反复按压洗洁精瓶",
        "反复给肉串撒料",
        "打包待寄送物品",
        "插花与摆放藤条香薰",
        "准备早餐"
      ],
      "size_bytes": 23125415964,
      "duration_seconds": 51144.03333333333
    },
    {
      "subset_id": "real-world-one-shot-data",
      "domain": "real-world",
      "shot_regime": "one-shot",
      "availability": "available",
      "tasks": 20,
      "episodes_per_task": 1,
      "episodes": 20,
      "path_in_repo": "data/real-world/one-shot",
      "name_en": "Real-World One-Shot Training Data",
      "name_zh": "真机 One-Shot 训练集",
      "format": "LeRobot v3.0",
      "robot_type": "G2A",
      "frames": 16362,
      "fps": 30,
      "camera_streams_per_episode": 3,
      "state_dimensions": 290,
      "action_dimensions": 52,
      "splits": {
        "train": "0:20"
      },
      "video_codecs": [
        "hevc"
      ],
      "episode_mapping": "data/real-world/one-shot/provenance/episode_mapping.json",
      "source_episode_selection": "minimum original episode_id among the 100 source episodes for 19 tasks; tea uses the minimum original episode_id from the 27-episode tea refresh batch",
      "videos": 60,
      "platform": "AgiBot Genie02",
      "size_bytes": 215642018,
      "duration_seconds": 545.4,
      "display_task_names": [
        "Transfer Blocks Using Plate",
        "Enter Keypad Number Sequence",
        "Set the Table",
        "Arrange Seasoning Jars",
        "Load Plastic Plates Into Rack",
        "Press Button Five Times",
        "Place Pot On Induction Cooker",
        "Organize Desktop Workstation",
        "Organize Books And Pen",
        "Arrange Family Tea Set",
        "Operate Drawers In Sequence",
        "Sort Blocks in Order",
        "Fill And Place Pen Holder",
        "Organize Cosmetics Storage Box",
        "Strike Drum Five Times",
        "Apply Dish Soap Repeatedly",
        "Season Meat Skewers Repeatedly",
        "Pack Items For Shipping",
        "Arrange Flowers and Reed Diffuser",
        "Prepare Breakfast"
      ],
      "display_task_names_zh": [
        "用盘子转移积木",
        "输入键盘数字序列",
        "摆放餐具",
        "摆放调料罐",
        "将塑料盘装入盘架",
        "按按钮五次",
        "将小锅放上电磁炉",
        "整理桌面工作区",
        "整理书本和笔",
        "摆放家庭茶具",
        "按顺序打开与关闭抽屉",
        "按顺序摆放彩色积木",
        "装填并摆放笔筒",
        "整理化妆品收纳盒",
        "敲鼓五次",
        "反复按压洗洁精瓶",
        "反复给肉串撒料",
        "打包待寄送物品",
        "插花与摆放藤条香薰",
        "准备早餐"
      ],
      "source_episode_selection_exceptions": [
        {
          "task_index": 9,
          "display_task_name": "Arrange Family Tea Set",
          "source_dataset_id": 224282,
          "source_task_id": 172027,
          "source_episode_index": 5,
          "source_episode_id": 52375079,
          "selection": "minimum original episode_id in the 27-episode tea refresh batch"
        }
      ]
    }
  ],
  "planned_subsets": [],
  "data_revision": "7fd21cb2519b4d59cbe9fe8b23cfdf477e3ad145",
  "publication_authorization": "All data were authorized before public release."
}