value-model-benchmark-training-data / data /simulation /one-shot /annotations /subtasks /segments.json
| { | |
| "schema_version": 1, | |
| "annotation_revision": 2, | |
| "annotation_status": "user_confirmed_release", | |
| "source_dataset": { | |
| "repo_id": "wzlllong/value-model-benchmark-training-data", | |
| "subtree": "data/simulation/one-shot", | |
| "data_revision": "43ae4845fe0461c66aa59a0ee441185d99fb05f8", | |
| "source_subtree_tree_id": "837e271aac36ea3eea72599ab5bca86db64bb025" | |
| }, | |
| "fps": 25, | |
| "interval_convention": "[start_frame, end_frame)", | |
| "segments": [ | |
| { | |
| "episode_index": 0, | |
| "task_key": "arrange_largest_number", | |
| "subtask_id": "S1", | |
| "start_frame": 0, | |
| "end_frame": 104, | |
| "segment_index": 0, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 0, | |
| "source_task_key": "arrange_largest_number", | |
| "semantic_id": "arrange_largest_number/S1", | |
| "subtask_text_en": "Place the largest number on the leftmost mat.", | |
| "subtask_text_zh": "将最大的数字放到最左侧垫子。", | |
| "inclusive_end_frame": 103, | |
| "global_start_index": 0, | |
| "global_end_index": 104, | |
| "start_timestamp_seconds": 0.0, | |
| "end_timestamp_seconds": 4.16, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 0, | |
| "task_key": "arrange_largest_number", | |
| "subtask_id": "S2", | |
| "start_frame": 104, | |
| "end_frame": 280, | |
| "segment_index": 1, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 0, | |
| "source_task_key": "arrange_largest_number", | |
| "semantic_id": "arrange_largest_number/S2", | |
| "subtask_text_en": "Place the largest number outside the mats on the second mat from the left.", | |
| "subtask_text_zh": "将垫子外最大的数字放到左起第二个垫子。", | |
| "inclusive_end_frame": 279, | |
| "global_start_index": 104, | |
| "global_end_index": 280, | |
| "start_timestamp_seconds": 4.16, | |
| "end_timestamp_seconds": 11.2, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 0, | |
| "task_key": "arrange_largest_number", | |
| "subtask_id": "S3", | |
| "start_frame": 280, | |
| "end_frame": 384, | |
| "segment_index": 2, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 0, | |
| "source_task_key": "arrange_largest_number", | |
| "semantic_id": "arrange_largest_number/S3", | |
| "subtask_text_en": "Place the largest number outside the mats on the third mat from the left.", | |
| "subtask_text_zh": "将垫子外最大的数字放到左起第三个垫子。", | |
| "inclusive_end_frame": 383, | |
| "global_start_index": 280, | |
| "global_end_index": 384, | |
| "start_timestamp_seconds": 11.2, | |
| "end_timestamp_seconds": 15.36, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 0, | |
| "task_key": "arrange_largest_number", | |
| "subtask_id": "S4", | |
| "start_frame": 384, | |
| "end_frame": 579, | |
| "segment_index": 3, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 0, | |
| "source_task_key": "arrange_largest_number", | |
| "semantic_id": "arrange_largest_number/S4", | |
| "subtask_text_en": "Place the remaining number on the fourth mat from the left.", | |
| "subtask_text_zh": "将剩余数字放到左起第四个垫子。", | |
| "inclusive_end_frame": 578, | |
| "global_start_index": 384, | |
| "global_end_index": 579, | |
| "start_timestamp_seconds": 15.36, | |
| "end_timestamp_seconds": 23.16, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 1, | |
| "task_key": "fill_pen_holder", | |
| "subtask_id": "S1", | |
| "start_frame": 0, | |
| "end_frame": 123, | |
| "segment_index": 4, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 1, | |
| "source_task_key": "fill_pen_holder", | |
| "semantic_id": "fill_pen_holder/S1", | |
| "subtask_text_en": "Hold the empty pen holder.", | |
| "subtask_text_zh": "拿住空笔筒。", | |
| "inclusive_end_frame": 122, | |
| "global_start_index": 579, | |
| "global_end_index": 702, | |
| "start_timestamp_seconds": 0.0, | |
| "end_timestamp_seconds": 4.92, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 1, | |
| "task_key": "fill_pen_holder", | |
| "subtask_id": "S2", | |
| "start_frame": 123, | |
| "end_frame": 331, | |
| "segment_index": 5, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 1, | |
| "source_task_key": "fill_pen_holder", | |
| "semantic_id": "fill_pen_holder/S2", | |
| "subtask_text_en": "Insert the first selected pen into the pen holder.", | |
| "subtask_text_zh": "将第一支选中的笔插入笔筒。", | |
| "inclusive_end_frame": 330, | |
| "global_start_index": 702, | |
| "global_end_index": 910, | |
| "start_timestamp_seconds": 4.92, | |
| "end_timestamp_seconds": 13.24, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 1, | |
| "task_key": "fill_pen_holder", | |
| "subtask_id": "S3", | |
| "start_frame": 331, | |
| "end_frame": 526, | |
| "segment_index": 6, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 1, | |
| "source_task_key": "fill_pen_holder", | |
| "semantic_id": "fill_pen_holder/S3", | |
| "subtask_text_en": "Insert the second selected pen into the pen holder.", | |
| "subtask_text_zh": "将第二支选中的笔插入笔筒。", | |
| "inclusive_end_frame": 525, | |
| "global_start_index": 910, | |
| "global_end_index": 1105, | |
| "start_timestamp_seconds": 13.24, | |
| "end_timestamp_seconds": 21.04, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 1, | |
| "task_key": "fill_pen_holder", | |
| "subtask_id": "S4", | |
| "start_frame": 526, | |
| "end_frame": 709, | |
| "segment_index": 7, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 1, | |
| "source_task_key": "fill_pen_holder", | |
| "semantic_id": "fill_pen_holder/S4", | |
| "subtask_text_en": "Insert the third selected pen into the pen holder.", | |
| "subtask_text_zh": "将第三支选中的笔插入笔筒。", | |
| "inclusive_end_frame": 708, | |
| "global_start_index": 1105, | |
| "global_end_index": 1288, | |
| "start_timestamp_seconds": 21.04, | |
| "end_timestamp_seconds": 28.36, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 1, | |
| "task_key": "fill_pen_holder", | |
| "subtask_id": "S5", | |
| "start_frame": 709, | |
| "end_frame": 845, | |
| "segment_index": 8, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 1, | |
| "source_task_key": "fill_pen_holder", | |
| "semantic_id": "fill_pen_holder/S5", | |
| "subtask_text_en": "Insert the remaining pen into the pen holder.", | |
| "subtask_text_zh": "将剩余的一支笔插入笔筒。", | |
| "inclusive_end_frame": 844, | |
| "global_start_index": 1288, | |
| "global_end_index": 1424, | |
| "start_timestamp_seconds": 28.36, | |
| "end_timestamp_seconds": 33.8, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 1, | |
| "task_key": "fill_pen_holder", | |
| "subtask_id": "S6", | |
| "start_frame": 845, | |
| "end_frame": 934, | |
| "segment_index": 9, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 1, | |
| "source_task_key": "fill_pen_holder", | |
| "semantic_id": "fill_pen_holder/S6", | |
| "subtask_text_en": "Place the filled pen holder upright on the table.", | |
| "subtask_text_zh": "将装满的笔筒直立放在桌上。", | |
| "inclusive_end_frame": 933, | |
| "global_start_index": 1424, | |
| "global_end_index": 1513, | |
| "start_timestamp_seconds": 33.8, | |
| "end_timestamp_seconds": 37.36, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 2, | |
| "task_key": "fold_clothes", | |
| "subtask_id": "S1", | |
| "start_frame": 0, | |
| "end_frame": 103, | |
| "segment_index": 10, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 2, | |
| "source_task_key": "fold_clothes", | |
| "semantic_id": "fold_clothes/S1", | |
| "subtask_text_en": "Fold the left sleeve inward.", | |
| "subtask_text_zh": "将左袖向内折。", | |
| "inclusive_end_frame": 102, | |
| "global_start_index": 1513, | |
| "global_end_index": 1616, | |
| "start_timestamp_seconds": 0.0, | |
| "end_timestamp_seconds": 4.12, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 2, | |
| "task_key": "fold_clothes", | |
| "subtask_id": "S2", | |
| "start_frame": 103, | |
| "end_frame": 208, | |
| "segment_index": 11, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 2, | |
| "source_task_key": "fold_clothes", | |
| "semantic_id": "fold_clothes/S2", | |
| "subtask_text_en": "Fold the right sleeve inward.", | |
| "subtask_text_zh": "将右袖向内折。", | |
| "inclusive_end_frame": 207, | |
| "global_start_index": 1616, | |
| "global_end_index": 1721, | |
| "start_timestamp_seconds": 4.12, | |
| "end_timestamp_seconds": 8.32, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 2, | |
| "task_key": "fold_clothes", | |
| "subtask_id": "S3", | |
| "start_frame": 208, | |
| "end_frame": 301, | |
| "segment_index": 12, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 2, | |
| "source_task_key": "fold_clothes", | |
| "semantic_id": "fold_clothes/S3", | |
| "subtask_text_en": "Fold the lower half of the garment over the upper half.", | |
| "subtask_text_zh": "将衣物下半部分折到上半部分之上。", | |
| "inclusive_end_frame": 300, | |
| "global_start_index": 1721, | |
| "global_end_index": 1814, | |
| "start_timestamp_seconds": 8.32, | |
| "end_timestamp_seconds": 12.04, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 3, | |
| "task_key": "hang_mugs", | |
| "subtask_id": "S1", | |
| "start_frame": 0, | |
| "end_frame": 190, | |
| "segment_index": 13, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 3, | |
| "source_task_key": "hang_mugs", | |
| "semantic_id": "hang_mugs/S1", | |
| "subtask_text_en": "Hang the first cup on an empty hook.", | |
| "subtask_text_zh": "将第一个杯子挂在空挂钩上。", | |
| "inclusive_end_frame": 189, | |
| "global_start_index": 1814, | |
| "global_end_index": 2004, | |
| "start_timestamp_seconds": 0.0, | |
| "end_timestamp_seconds": 7.6, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 3, | |
| "task_key": "hang_mugs", | |
| "subtask_id": "S2", | |
| "start_frame": 190, | |
| "end_frame": 331, | |
| "segment_index": 14, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 3, | |
| "source_task_key": "hang_mugs", | |
| "semantic_id": "hang_mugs/S2", | |
| "subtask_text_en": "Hang the second cup on another empty hook.", | |
| "subtask_text_zh": "将第二个杯子挂在另一个空挂钩上。", | |
| "inclusive_end_frame": 330, | |
| "global_start_index": 2004, | |
| "global_end_index": 2145, | |
| "start_timestamp_seconds": 7.6, | |
| "end_timestamp_seconds": 13.24, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 3, | |
| "task_key": "hang_mugs", | |
| "subtask_id": "S3", | |
| "start_frame": 331, | |
| "end_frame": 513, | |
| "segment_index": 15, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 3, | |
| "source_task_key": "hang_mugs", | |
| "semantic_id": "hang_mugs/S3", | |
| "subtask_text_en": "Hang the third cup on the remaining empty hook.", | |
| "subtask_text_zh": "将第三个杯子挂在剩余空挂钩上。", | |
| "inclusive_end_frame": 512, | |
| "global_start_index": 2145, | |
| "global_end_index": 2327, | |
| "start_timestamp_seconds": 13.24, | |
| "end_timestamp_seconds": 20.52, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 4, | |
| "task_key": "insert_tubes", | |
| "subtask_id": "S1", | |
| "start_frame": 0, | |
| "end_frame": 110, | |
| "segment_index": 16, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 4, | |
| "source_task_key": "insert_tubes", | |
| "semantic_id": "insert_tubes/S1", | |
| "subtask_text_en": "Insert the first tube into an empty slot.", | |
| "subtask_text_zh": "将第一根管插入空槽。", | |
| "inclusive_end_frame": 109, | |
| "global_start_index": 2327, | |
| "global_end_index": 2437, | |
| "start_timestamp_seconds": 0.0, | |
| "end_timestamp_seconds": 4.4, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 4, | |
| "task_key": "insert_tubes", | |
| "subtask_id": "S2", | |
| "start_frame": 110, | |
| "end_frame": 208, | |
| "segment_index": 17, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 4, | |
| "source_task_key": "insert_tubes", | |
| "semantic_id": "insert_tubes/S2", | |
| "subtask_text_en": "Insert the second tube into another empty slot.", | |
| "subtask_text_zh": "将第二根管插入另一个空槽。", | |
| "inclusive_end_frame": 207, | |
| "global_start_index": 2437, | |
| "global_end_index": 2535, | |
| "start_timestamp_seconds": 4.4, | |
| "end_timestamp_seconds": 8.32, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 4, | |
| "task_key": "insert_tubes", | |
| "subtask_id": "S3", | |
| "start_frame": 208, | |
| "end_frame": 320, | |
| "segment_index": 18, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 4, | |
| "source_task_key": "insert_tubes", | |
| "semantic_id": "insert_tubes/S3", | |
| "subtask_text_en": "Insert the third tube into the remaining empty slot.", | |
| "subtask_text_zh": "将第三根管插入剩余空槽。", | |
| "inclusive_end_frame": 319, | |
| "global_start_index": 2535, | |
| "global_end_index": 2647, | |
| "start_timestamp_seconds": 8.32, | |
| "end_timestamp_seconds": 12.8, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 5, | |
| "task_key": "make_toast", | |
| "subtask_id": "S1", | |
| "start_frame": 0, | |
| "end_frame": 293, | |
| "segment_index": 19, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 5, | |
| "source_task_key": "make_toast", | |
| "semantic_id": "make_toast/S1", | |
| "subtask_text_en": "Insert the first bread slice into one toaster slot.", | |
| "subtask_text_zh": "将第一片面包插入一个烤面包机槽。", | |
| "inclusive_end_frame": 292, | |
| "global_start_index": 2647, | |
| "global_end_index": 2940, | |
| "start_timestamp_seconds": 0.0, | |
| "end_timestamp_seconds": 11.72, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 5, | |
| "task_key": "make_toast", | |
| "subtask_id": "S2", | |
| "start_frame": 293, | |
| "end_frame": 527, | |
| "segment_index": 20, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 5, | |
| "source_task_key": "make_toast", | |
| "semantic_id": "make_toast/S2", | |
| "subtask_text_en": "Insert the second bread slice into the remaining toaster slot.", | |
| "subtask_text_zh": "将第二片面包插入剩余烤面包机槽。", | |
| "inclusive_end_frame": 526, | |
| "global_start_index": 2940, | |
| "global_end_index": 3174, | |
| "start_timestamp_seconds": 11.72, | |
| "end_timestamp_seconds": 21.08, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 5, | |
| "task_key": "make_toast", | |
| "subtask_id": "S3", | |
| "start_frame": 527, | |
| "end_frame": 584, | |
| "segment_index": 21, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 5, | |
| "source_task_key": "make_toast", | |
| "semantic_id": "make_toast/S3", | |
| "subtask_text_en": "Press the toaster lever down.", | |
| "subtask_text_zh": "按下烤面包机拉杆。", | |
| "inclusive_end_frame": 583, | |
| "global_start_index": 3174, | |
| "global_end_index": 3231, | |
| "start_timestamp_seconds": 21.08, | |
| "end_timestamp_seconds": 23.36, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 6, | |
| "task_key": "organize_table", | |
| "subtask_id": "S1", | |
| "start_frame": 0, | |
| "end_frame": 162, | |
| "segment_index": 22, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 6, | |
| "source_task_key": "organize_table", | |
| "semantic_id": "organize_table/S1", | |
| "subtask_text_en": "Place the alarm clock on top of the drawer.", | |
| "subtask_text_zh": "将闹钟放到抽屉顶部。", | |
| "inclusive_end_frame": 161, | |
| "global_start_index": 3231, | |
| "global_end_index": 3393, | |
| "start_timestamp_seconds": 0.0, | |
| "end_timestamp_seconds": 6.48, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 6, | |
| "task_key": "organize_table", | |
| "subtask_id": "S2", | |
| "start_frame": 162, | |
| "end_frame": 384, | |
| "segment_index": 23, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 6, | |
| "source_task_key": "organize_table", | |
| "semantic_id": "organize_table/S2", | |
| "subtask_text_en": "Place the figurine on the stand.", | |
| "subtask_text_zh": "将摆件放到支架上。", | |
| "inclusive_end_frame": 383, | |
| "global_start_index": 3393, | |
| "global_end_index": 3615, | |
| "start_timestamp_seconds": 6.48, | |
| "end_timestamp_seconds": 15.36, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 6, | |
| "task_key": "organize_table", | |
| "subtask_id": "S3", | |
| "start_frame": 384, | |
| "end_frame": 546, | |
| "segment_index": 24, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 6, | |
| "source_task_key": "organize_table", | |
| "semantic_id": "organize_table/S3", | |
| "subtask_text_en": "Place the mouse on the mouse pad.", | |
| "subtask_text_zh": "将鼠标放到鼠标垫上。", | |
| "inclusive_end_frame": 545, | |
| "global_start_index": 3615, | |
| "global_end_index": 3777, | |
| "start_timestamp_seconds": 15.36, | |
| "end_timestamp_seconds": 21.84, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 6, | |
| "task_key": "organize_table", | |
| "subtask_id": "S4", | |
| "start_frame": 546, | |
| "end_frame": 839, | |
| "segment_index": 25, | |
| "boundary_tolerance_frames": 25, | |
| "task_index": 6, | |
| "source_task_key": "organize_table", | |
| "semantic_id": "organize_table/S4", | |
| "subtask_text_en": "Insert the keyboard into the frame.", | |
| "subtask_text_zh": "将键盘推入框架。", | |
| "inclusive_end_frame": 838, | |
| "global_start_index": 3777, | |
| "global_end_index": 4070, | |
| "start_timestamp_seconds": 21.84, | |
| "end_timestamp_seconds": 33.56, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 7, | |
| "task_key": "pack_objects_into_box", | |
| "subtask_id": "S1", | |
| "start_frame": 0, | |
| "end_frame": 72, | |
| "segment_index": 26, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 7, | |
| "source_task_key": "pack_objects_into_box", | |
| "semantic_id": "pack_objects_into_box/S1", | |
| "subtask_text_en": "Clear the center of the table, then place the box in the center of the table.", | |
| "subtask_text_zh": "清空桌面中央，再将盒子放到桌面中央。", | |
| "inclusive_end_frame": 71, | |
| "global_start_index": 4070, | |
| "global_end_index": 4142, | |
| "start_timestamp_seconds": 0.0, | |
| "end_timestamp_seconds": 2.88, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 7, | |
| "task_key": "pack_objects_into_box", | |
| "subtask_id": "S2", | |
| "start_frame": 72, | |
| "end_frame": 149, | |
| "segment_index": 27, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 7, | |
| "source_task_key": "pack_objects_into_box", | |
| "semantic_id": "pack_objects_into_box/S2", | |
| "subtask_text_en": "Place the shoe into the box.", | |
| "subtask_text_zh": "将鞋放入盒子。", | |
| "inclusive_end_frame": 148, | |
| "global_start_index": 4142, | |
| "global_end_index": 4219, | |
| "start_timestamp_seconds": 2.88, | |
| "end_timestamp_seconds": 5.96, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 7, | |
| "task_key": "pack_objects_into_box", | |
| "subtask_id": "S3", | |
| "start_frame": 149, | |
| "end_frame": 254, | |
| "segment_index": 28, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 7, | |
| "source_task_key": "pack_objects_into_box", | |
| "semantic_id": "pack_objects_into_box/S3", | |
| "subtask_text_en": "Place the hammer into the box.", | |
| "subtask_text_zh": "将锤子放入盒子。", | |
| "inclusive_end_frame": 253, | |
| "global_start_index": 4219, | |
| "global_end_index": 4324, | |
| "start_timestamp_seconds": 5.96, | |
| "end_timestamp_seconds": 10.16, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 7, | |
| "task_key": "pack_objects_into_box", | |
| "subtask_id": "S4", | |
| "start_frame": 254, | |
| "end_frame": 319, | |
| "segment_index": 29, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 7, | |
| "source_task_key": "pack_objects_into_box", | |
| "semantic_id": "pack_objects_into_box/S4", | |
| "subtask_text_en": "Place the toothbrush into the box.", | |
| "subtask_text_zh": "将牙刷放入盒子。", | |
| "inclusive_end_frame": 318, | |
| "global_start_index": 4324, | |
| "global_end_index": 4389, | |
| "start_timestamp_seconds": 10.16, | |
| "end_timestamp_seconds": 12.76, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 7, | |
| "task_key": "pack_objects_into_box", | |
| "subtask_id": "S5", | |
| "start_frame": 319, | |
| "end_frame": 414, | |
| "segment_index": 30, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 7, | |
| "source_task_key": "pack_objects_into_box", | |
| "semantic_id": "pack_objects_into_box/S5", | |
| "subtask_text_en": "Place the toy car into the box.", | |
| "subtask_text_zh": "将玩具车放入盒子。", | |
| "inclusive_end_frame": 413, | |
| "global_start_index": 4389, | |
| "global_end_index": 4484, | |
| "start_timestamp_seconds": 12.76, | |
| "end_timestamp_seconds": 16.56, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 8, | |
| "task_key": "play_stacking_toy", | |
| "subtask_id": "S1", | |
| "start_frame": 0, | |
| "end_frame": 332, | |
| "segment_index": 31, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 8, | |
| "source_task_key": "play_stacking_toy", | |
| "semantic_id": "play_stacking_toy/S1", | |
| "subtask_text_en": "Place the four matching pieces on the longest peg.", | |
| "subtask_text_zh": "将四个匹配配件放到最长柱子上。", | |
| "inclusive_end_frame": 331, | |
| "global_start_index": 4484, | |
| "global_end_index": 4816, | |
| "start_timestamp_seconds": 0.0, | |
| "end_timestamp_seconds": 13.28, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 8, | |
| "task_key": "play_stacking_toy", | |
| "subtask_id": "S2", | |
| "start_frame": 332, | |
| "end_frame": 605, | |
| "segment_index": 32, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 8, | |
| "source_task_key": "play_stacking_toy", | |
| "semantic_id": "play_stacking_toy/S2", | |
| "subtask_text_en": "Place the three matching pieces on the second-longest peg.", | |
| "subtask_text_zh": "将三个匹配配件放到第二长柱子上。", | |
| "inclusive_end_frame": 604, | |
| "global_start_index": 4816, | |
| "global_end_index": 5089, | |
| "start_timestamp_seconds": 13.28, | |
| "end_timestamp_seconds": 24.2, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 8, | |
| "task_key": "play_stacking_toy", | |
| "subtask_id": "S3", | |
| "start_frame": 605, | |
| "end_frame": 774, | |
| "segment_index": 33, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 8, | |
| "source_task_key": "play_stacking_toy", | |
| "semantic_id": "play_stacking_toy/S3", | |
| "subtask_text_en": "Place the two matching pieces on the second-shortest peg.", | |
| "subtask_text_zh": "将两个匹配配件放到第二短柱子上。", | |
| "inclusive_end_frame": 773, | |
| "global_start_index": 5089, | |
| "global_end_index": 5258, | |
| "start_timestamp_seconds": 24.2, | |
| "end_timestamp_seconds": 30.96, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 8, | |
| "task_key": "play_stacking_toy", | |
| "subtask_id": "S4", | |
| "start_frame": 774, | |
| "end_frame": 888, | |
| "segment_index": 34, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 8, | |
| "source_task_key": "play_stacking_toy", | |
| "semantic_id": "play_stacking_toy/S4", | |
| "subtask_text_en": "Place the remaining piece on the shortest peg.", | |
| "subtask_text_zh": "将剩余配件放到最短柱子上。", | |
| "inclusive_end_frame": 887, | |
| "global_start_index": 5258, | |
| "global_end_index": 5372, | |
| "start_timestamp_seconds": 30.96, | |
| "end_timestamp_seconds": 35.52, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 9, | |
| "task_key": "press_by_number", | |
| "subtask_id": "S1", | |
| "start_frame": 0, | |
| "end_frame": 195, | |
| "segment_index": 35, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 9, | |
| "source_task_key": "press_by_number", | |
| "semantic_id": "press_by_number/S1", | |
| "subtask_text_en": "Press the first button the required number of times.", | |
| "subtask_text_zh": "按要求次数按第一个按钮。", | |
| "inclusive_end_frame": 194, | |
| "global_start_index": 5372, | |
| "global_end_index": 5567, | |
| "start_timestamp_seconds": 0.0, | |
| "end_timestamp_seconds": 7.8, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 9, | |
| "task_key": "press_by_number", | |
| "subtask_id": "S2", | |
| "start_frame": 195, | |
| "end_frame": 247, | |
| "segment_index": 36, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 9, | |
| "source_task_key": "press_by_number", | |
| "semantic_id": "press_by_number/S2", | |
| "subtask_text_en": "Press the blue button.", | |
| "subtask_text_zh": "按蓝色按钮。", | |
| "inclusive_end_frame": 246, | |
| "global_start_index": 5567, | |
| "global_end_index": 5619, | |
| "start_timestamp_seconds": 7.8, | |
| "end_timestamp_seconds": 9.88, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 9, | |
| "task_key": "press_by_number", | |
| "subtask_id": "S3", | |
| "start_frame": 247, | |
| "end_frame": 312, | |
| "segment_index": 37, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 9, | |
| "source_task_key": "press_by_number", | |
| "semantic_id": "press_by_number/S3", | |
| "subtask_text_en": "Press the second button the required number of times.", | |
| "subtask_text_zh": "按要求次数按第二个按钮。", | |
| "inclusive_end_frame": 311, | |
| "global_start_index": 5619, | |
| "global_end_index": 5684, | |
| "start_timestamp_seconds": 9.88, | |
| "end_timestamp_seconds": 12.48, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 9, | |
| "task_key": "press_by_number", | |
| "subtask_id": "S4", | |
| "start_frame": 312, | |
| "end_frame": 378, | |
| "segment_index": 38, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 9, | |
| "source_task_key": "press_by_number", | |
| "semantic_id": "press_by_number/S4", | |
| "subtask_text_en": "Press the blue button again.", | |
| "subtask_text_zh": "再次按蓝色按钮。", | |
| "inclusive_end_frame": 377, | |
| "global_start_index": 5684, | |
| "global_end_index": 5750, | |
| "start_timestamp_seconds": 12.48, | |
| "end_timestamp_seconds": 15.12, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 10, | |
| "task_key": "put_bottles_into_dustbin", | |
| "subtask_id": "S1", | |
| "start_frame": 0, | |
| "end_frame": 58, | |
| "segment_index": 39, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 10, | |
| "source_task_key": "put_bottles_into_dustbin", | |
| "semantic_id": "put_bottles_into_dustbin/S1", | |
| "subtask_text_en": "Place the first bottle in the dustbin.", | |
| "subtask_text_zh": "将第一个瓶子放入垃圾桶。", | |
| "inclusive_end_frame": 57, | |
| "global_start_index": 5750, | |
| "global_end_index": 5808, | |
| "start_timestamp_seconds": 0.0, | |
| "end_timestamp_seconds": 2.32, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 10, | |
| "task_key": "put_bottles_into_dustbin", | |
| "subtask_id": "S2", | |
| "start_frame": 58, | |
| "end_frame": 124, | |
| "segment_index": 40, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 10, | |
| "source_task_key": "put_bottles_into_dustbin", | |
| "semantic_id": "put_bottles_into_dustbin/S2", | |
| "subtask_text_en": "Place the second bottle in the dustbin.", | |
| "subtask_text_zh": "将第二个瓶子放入垃圾桶。", | |
| "inclusive_end_frame": 123, | |
| "global_start_index": 5808, | |
| "global_end_index": 5874, | |
| "start_timestamp_seconds": 2.32, | |
| "end_timestamp_seconds": 4.96, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 10, | |
| "task_key": "put_bottles_into_dustbin", | |
| "subtask_id": "S3", | |
| "start_frame": 124, | |
| "end_frame": 201, | |
| "segment_index": 41, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 10, | |
| "source_task_key": "put_bottles_into_dustbin", | |
| "semantic_id": "put_bottles_into_dustbin/S3", | |
| "subtask_text_en": "Place the third bottle in the dustbin.", | |
| "subtask_text_zh": "将第三个瓶子放入垃圾桶。", | |
| "inclusive_end_frame": 200, | |
| "global_start_index": 5874, | |
| "global_end_index": 5951, | |
| "start_timestamp_seconds": 4.96, | |
| "end_timestamp_seconds": 8.04, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 10, | |
| "task_key": "put_bottles_into_dustbin", | |
| "subtask_id": "S4", | |
| "start_frame": 201, | |
| "end_frame": 363, | |
| "segment_index": 42, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 10, | |
| "source_task_key": "put_bottles_into_dustbin", | |
| "semantic_id": "put_bottles_into_dustbin/S4", | |
| "subtask_text_en": "Place the last bottle in the dustbin.", | |
| "subtask_text_zh": "将最后一个瓶子放入垃圾桶。", | |
| "inclusive_end_frame": 362, | |
| "global_start_index": 5951, | |
| "global_end_index": 6113, | |
| "start_timestamp_seconds": 8.04, | |
| "end_timestamp_seconds": 14.52, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 11, | |
| "task_key": "stack_blocks", | |
| "subtask_id": "S1", | |
| "start_frame": 0, | |
| "end_frame": 98, | |
| "segment_index": 43, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 11, | |
| "source_task_key": "stack_blocks", | |
| "semantic_id": "stack_blocks/S1", | |
| "subtask_text_en": "Place the first block in the center of the table.", | |
| "subtask_text_zh": "将第一块积木放到桌面中央。", | |
| "inclusive_end_frame": 97, | |
| "global_start_index": 6113, | |
| "global_end_index": 6211, | |
| "start_timestamp_seconds": 0.0, | |
| "end_timestamp_seconds": 3.92, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 11, | |
| "task_key": "stack_blocks", | |
| "subtask_id": "S2", | |
| "start_frame": 98, | |
| "end_frame": 175, | |
| "segment_index": 44, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 11, | |
| "source_task_key": "stack_blocks", | |
| "semantic_id": "stack_blocks/S2", | |
| "subtask_text_en": "Place the second block on the first block.", | |
| "subtask_text_zh": "将第二块积木放到第一块上。", | |
| "inclusive_end_frame": 174, | |
| "global_start_index": 6211, | |
| "global_end_index": 6288, | |
| "start_timestamp_seconds": 3.92, | |
| "end_timestamp_seconds": 7.0, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 11, | |
| "task_key": "stack_blocks", | |
| "subtask_id": "S3", | |
| "start_frame": 175, | |
| "end_frame": 268, | |
| "segment_index": 45, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 11, | |
| "source_task_key": "stack_blocks", | |
| "semantic_id": "stack_blocks/S3", | |
| "subtask_text_en": "Place the third block on the second block.", | |
| "subtask_text_zh": "将第三块积木放到第二块上。", | |
| "inclusive_end_frame": 267, | |
| "global_start_index": 6288, | |
| "global_end_index": 6381, | |
| "start_timestamp_seconds": 7.0, | |
| "end_timestamp_seconds": 10.72, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 12, | |
| "task_key": "store_laptop_and_headphones", | |
| "subtask_id": "S1", | |
| "start_frame": 0, | |
| "end_frame": 111, | |
| "segment_index": 46, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 12, | |
| "source_task_key": "store_laptop_and_headphones", | |
| "semantic_id": "store_laptop_and_headphones/S1", | |
| "subtask_text_en": "Place the headphones on the headphone stand.", | |
| "subtask_text_zh": "将耳机放到耳机架上。", | |
| "inclusive_end_frame": 110, | |
| "global_start_index": 6381, | |
| "global_end_index": 6492, | |
| "start_timestamp_seconds": 0.0, | |
| "end_timestamp_seconds": 4.44, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 12, | |
| "task_key": "store_laptop_and_headphones", | |
| "subtask_id": "S2", | |
| "start_frame": 111, | |
| "end_frame": 211, | |
| "segment_index": 47, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 12, | |
| "source_task_key": "store_laptop_and_headphones", | |
| "semantic_id": "store_laptop_and_headphones/S2", | |
| "subtask_text_en": "Close the laptop.", | |
| "subtask_text_zh": "合上笔记本电脑。", | |
| "inclusive_end_frame": 210, | |
| "global_start_index": 6492, | |
| "global_end_index": 6592, | |
| "start_timestamp_seconds": 4.44, | |
| "end_timestamp_seconds": 8.44, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 12, | |
| "task_key": "store_laptop_and_headphones", | |
| "subtask_id": "S3", | |
| "start_frame": 211, | |
| "end_frame": 551, | |
| "segment_index": 48, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 12, | |
| "source_task_key": "store_laptop_and_headphones", | |
| "semantic_id": "store_laptop_and_headphones/S3", | |
| "subtask_text_en": "Place the closed laptop in the laptop stand.", | |
| "subtask_text_zh": "将合上的笔记本电脑放入电脑支架。", | |
| "inclusive_end_frame": 550, | |
| "global_start_index": 6592, | |
| "global_end_index": 6932, | |
| "start_timestamp_seconds": 8.44, | |
| "end_timestamp_seconds": 22.04, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 13, | |
| "task_key": "swap_blocks", | |
| "subtask_id": "S1", | |
| "start_frame": 0, | |
| "end_frame": 91, | |
| "segment_index": 49, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 13, | |
| "source_task_key": "swap_blocks", | |
| "semantic_id": "swap_blocks/S1", | |
| "subtask_text_en": "Put the first block on the empty mat.", | |
| "subtask_text_zh": "将第一块积木放到空垫子上。", | |
| "inclusive_end_frame": 90, | |
| "global_start_index": 6932, | |
| "global_end_index": 7023, | |
| "start_timestamp_seconds": 0.0, | |
| "end_timestamp_seconds": 3.64, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 13, | |
| "task_key": "swap_blocks", | |
| "subtask_id": "S2", | |
| "start_frame": 91, | |
| "end_frame": 143, | |
| "segment_index": 50, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 13, | |
| "source_task_key": "swap_blocks", | |
| "semantic_id": "swap_blocks/S2", | |
| "subtask_text_en": "Press the button to confirm the first move.", | |
| "subtask_text_zh": "按按钮确认第一次移动。", | |
| "inclusive_end_frame": 142, | |
| "global_start_index": 7023, | |
| "global_end_index": 7075, | |
| "start_timestamp_seconds": 3.64, | |
| "end_timestamp_seconds": 5.72, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 13, | |
| "task_key": "swap_blocks", | |
| "subtask_id": "S3", | |
| "start_frame": 143, | |
| "end_frame": 234, | |
| "segment_index": 51, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 13, | |
| "source_task_key": "swap_blocks", | |
| "semantic_id": "swap_blocks/S3", | |
| "subtask_text_en": "Transfer the second block onto the original first block’s position.", | |
| "subtask_text_zh": "将第二块积木移到第一块积木的原位置。", | |
| "inclusive_end_frame": 233, | |
| "global_start_index": 7075, | |
| "global_end_index": 7166, | |
| "start_timestamp_seconds": 5.72, | |
| "end_timestamp_seconds": 9.36, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 13, | |
| "task_key": "swap_blocks", | |
| "subtask_id": "S4", | |
| "start_frame": 234, | |
| "end_frame": 286, | |
| "segment_index": 52, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 13, | |
| "source_task_key": "swap_blocks", | |
| "semantic_id": "swap_blocks/S4", | |
| "subtask_text_en": "Press the button to confirm the second move.", | |
| "subtask_text_zh": "按按钮确认第二次移动。", | |
| "inclusive_end_frame": 285, | |
| "global_start_index": 7166, | |
| "global_end_index": 7218, | |
| "start_timestamp_seconds": 9.36, | |
| "end_timestamp_seconds": 11.44, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 13, | |
| "task_key": "swap_blocks", | |
| "subtask_id": "S5", | |
| "start_frame": 286, | |
| "end_frame": 377, | |
| "segment_index": 53, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 13, | |
| "source_task_key": "swap_blocks", | |
| "semantic_id": "swap_blocks/S5", | |
| "subtask_text_en": "Put the first block on the original second block’s mat.", | |
| "subtask_text_zh": "将第一块积木放到第二块积木原先所在的垫子上。", | |
| "inclusive_end_frame": 376, | |
| "global_start_index": 7218, | |
| "global_end_index": 7309, | |
| "start_timestamp_seconds": 11.44, | |
| "end_timestamp_seconds": 15.08, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 13, | |
| "task_key": "swap_blocks", | |
| "subtask_id": "S6", | |
| "start_frame": 377, | |
| "end_frame": 445, | |
| "segment_index": 54, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 13, | |
| "source_task_key": "swap_blocks", | |
| "semantic_id": "swap_blocks/S6", | |
| "subtask_text_en": "Press the button to confirm the last move.", | |
| "subtask_text_zh": "按按钮确认最后一次移动。", | |
| "inclusive_end_frame": 444, | |
| "global_start_index": 7309, | |
| "global_end_index": 7377, | |
| "start_timestamp_seconds": 15.08, | |
| "end_timestamp_seconds": 17.8, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 14, | |
| "task_key": "sweep_blocks", | |
| "subtask_id": "S1", | |
| "start_frame": 0, | |
| "end_frame": 214, | |
| "segment_index": 55, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 14, | |
| "source_task_key": "sweep_objects", | |
| "semantic_id": "sweep_blocks/S1", | |
| "subtask_text_en": "Pick up the broom.", | |
| "subtask_text_zh": "拿起扫帚。", | |
| "inclusive_end_frame": 213, | |
| "global_start_index": 7377, | |
| "global_end_index": 7591, | |
| "start_timestamp_seconds": 0.0, | |
| "end_timestamp_seconds": 8.56, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 14, | |
| "task_key": "sweep_blocks", | |
| "subtask_id": "S2", | |
| "start_frame": 214, | |
| "end_frame": 381, | |
| "segment_index": 56, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 14, | |
| "source_task_key": "sweep_objects", | |
| "semantic_id": "sweep_blocks/S2", | |
| "subtask_text_en": "Pick up the dustpan.", | |
| "subtask_text_zh": "拿起簸箕。", | |
| "inclusive_end_frame": 380, | |
| "global_start_index": 7591, | |
| "global_end_index": 7758, | |
| "start_timestamp_seconds": 8.56, | |
| "end_timestamp_seconds": 15.24, | |
| "annotation_status": "user_confirmed_release" | |
| }, | |
| { | |
| "episode_index": 14, | |
| "task_key": "sweep_blocks", | |
| "subtask_id": "S3", | |
| "start_frame": 381, | |
| "end_frame": 703, | |
| "segment_index": 57, | |
| "boundary_tolerance_frames": 13, | |
| "task_index": 14, | |
| "source_task_key": "sweep_objects", | |
| "semantic_id": "sweep_blocks/S3", | |
| "subtask_text_en": "Sweep all objects into the dustpan.", | |
| "subtask_text_zh": "将全部物体扫入簸箕。", | |
| "inclusive_end_frame": 702, | |
| "global_start_index": 7758, | |
| "global_end_index": 8080, | |
| "start_timestamp_seconds": 15.24, | |
| "end_timestamp_seconds": 28.12, | |
| "annotation_status": "user_confirmed_release" | |
| } | |
| ] | |
| } | |