RoboDojo keyframe memory annotations

.gitattributes

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README.md

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+---
+license: apache-2.0
+task_categories:
+- robotics
+tags:
+- robodojo
+- annotations
+---
+
+# RoboDojo progress annotations
+
+Frame-level labels over the official RoboDojo episodes, for the six tasks that
+require remembering something seen earlier in the episode. They carry no images,
+states, actions or episodes; the observations and actions a policy trains on
+come from [`RoboDojo-Benchmark/Robodojo`](https://huggingface.co/datasets/RoboDojo-Benchmark/Robodojo).
+
+Published so that the training recipe behind our RoboDojo entry can be run by
+anyone: without these labels the keyframe-memory stage has nothing to learn
+from.
+
+## What is in it
+
+600 files, `<task>/trajectory_<n>/progress.json`, covering all 100 episodes of
+each of the six tasks. Plus `index.json`, which maps each task directory to the
+official task instruction and states the schema.
+
+| field | meaning |
+| --- | --- |
+| `keyframes` | the frames at which the task made visible progress that has to be remembered |
+| `meta[].frame` / `meta[].box` | `[x1, y1, x2, y2]` in raw-video pixels, the object that progress was about |
+| `meta[].window` | `[first, last]` — the frames at which recording that keyframe still counts as correct |
+| `total_frames` | the episode's length, so a file can be checked against the episode it describes |
+
+`meta[].window` exists because a keyframe is a moment, not a frame: several
+consecutive frames show the same progress, so a selector that answers one frame
+early is not wrong. Training scores the answer against the whole interval
+rather than against a single index.
+
+## Per-task shape
+
+| task | episodes | keyframes each | boxes each | acceptance intervals each |
+| --- | --- | --- | --- | --- |
+| `cover_blocks` | 100 | 4 | — | — |
+| `imitate_sorting_sequence` | 100 | 5 | 5 | — |
+| `match_and_pick_from_conveyor` | 100 | 1 | — | 1 |
+| `press_by_number` | 100 | 5–21 | — | — |
+| `swap_T` | 100 | 1 | — | — |
+| `swap_blocks` | 100 | 7 | — | 1 |
+
+Where a task has no acceptance interval, the selection answer is scored against
+the single annotated candidate.
+
+`swap_T` and `match_and_pick_from_conveyor` carry one keyframe, at frame 0: what
+has to be remembered is the initial position and orientation of the two blocks,
+and the first object on the conveyor. Both are visible at the start.
+
+## Checking them against the official episodes
+
+An annotation bound to the wrong episode would train a policy to recall the
+wrong frames. Each file therefore records its episode's length; the loader binds
+by task instruction and stops if a length disagrees.
+
+## How they were produced
+
+For each task we decided by hand what counts as a keyframe — the moments at
+which the task makes the progress a policy has to remember, such as a block
+being covered or a button press being committed. A script then located the
+frames that satisfy the rule in each episode, and every file was checked by a
+person and corrected where the script had put a frame in the wrong place.
+
+## Using them
+
+```bash
+hf download x-square-robot/robodojo-memory-annotations --repo-type dataset \
+    --local-dir <bench_root>/data/robodojo_memory_annotations
+```
+
+The training code that reads them is in
+[wall-x](https://github.com/X-Square-Robot/wall-x)
+(`wall_x/data/backends/lerobot/robodojo/`); see the WallX policy README in XPolicyLab
+for the two training stages.

cover_blocks/trajectory_0/progress.json

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+{
+ "keyframes": [
+  0,
+  70,
+  148,
+  238
+ ],
+ "total_frames": 555
+}

cover_blocks/trajectory_1/progress.json

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+{
+ "keyframes": [
+  0,
+  70,
+  147,
+  237
+ ],
+ "total_frames": 541
+}

cover_blocks/trajectory_10/progress.json

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+{
+ "keyframes": [
+  0,
+  70,
+  148,
+  238
+ ],
+ "total_frames": 543
+}

cover_blocks/trajectory_11/progress.json

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+{
+ "keyframes": [
+  0,
+  70,
+  148,
+  237
+ ],
+ "total_frames": 548
+}

cover_blocks/trajectory_12/progress.json

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+{
+ "keyframes": [
+  0,
+  70,
+  148,
+  237
+ ],
+ "total_frames": 536
+}

cover_blocks/trajectory_13/progress.json

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+{
+ "keyframes": [
+  0,
+  70,
+  148,
+  237
+ ],
+ "total_frames": 543
+}

cover_blocks/trajectory_14/progress.json

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+{
+ "keyframes": [
+  0,
+  70,
+  147,
+  237
+ ],
+ "total_frames": 558
+}

cover_blocks/trajectory_15/progress.json

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+{
+ "keyframes": [
+  0,
+  70,
+  148,
+  237
+ ],
+ "total_frames": 550
+}

cover_blocks/trajectory_16/progress.json

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+{
+ "keyframes": [
+  0,
+  70,
+  148,
+  237
+ ],
+ "total_frames": 540
+}

cover_blocks/trajectory_17/progress.json

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+{
+ "keyframes": [
+  0,
+  70,
+  148,
+  238
+ ],
+ "total_frames": 542
+}

cover_blocks/trajectory_18/progress.json

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+{
+ "keyframes": [
+  0,
+  70,
+  148,
+  237
+ ],
+ "total_frames": 541
+}

cover_blocks/trajectory_19/progress.json

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+{
+ "keyframes": [
+  0,
+  70,
+  148,
+  237
+ ],
+ "total_frames": 539
+}

cover_blocks/trajectory_2/progress.json

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+{
+ "keyframes": [
+  0,
+  70,
+  148,
+  237
+ ],
+ "total_frames": 538
+}

cover_blocks/trajectory_20/progress.json

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+{
+ "keyframes": [
+  0,
+  70,
+  148,
+  237
+ ],
+ "total_frames": 543
+}

cover_blocks/trajectory_21/progress.json

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+{
+ "keyframes": [
+  0,
+  70,
+  148,
+  237
+ ],
+ "total_frames": 549
+}

cover_blocks/trajectory_22/progress.json

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+{
+ "keyframes": [
+  0,
+  70,
+  148,
+  237
+ ],
+ "total_frames": 555
+}

cover_blocks/trajectory_23/progress.json

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+{
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+ ],
+ "total_frames": 538
+}

cover_blocks/trajectory_24/progress.json

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+{
+ "keyframes": [
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+  238
+ ],
+ "total_frames": 541
+}

cover_blocks/trajectory_25/progress.json

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+{
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+ ],
+ "total_frames": 550
+}

cover_blocks/trajectory_26/progress.json

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+{
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+}

cover_blocks/trajectory_27/progress.json

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+{
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+ "total_frames": 543
+}

cover_blocks/trajectory_28/progress.json

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+{
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+ "total_frames": 539
+}

cover_blocks/trajectory_29/progress.json

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+}

cover_blocks/trajectory_3/progress.json

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+{
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+ ],
+ "total_frames": 548
+}

cover_blocks/trajectory_30/progress.json

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+{
+ "keyframes": [
+  0,
+  70,
+  148,
+  237
+ ],
+ "total_frames": 539
+}

cover_blocks/trajectory_31/progress.json

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+{
+ "keyframes": [
+  0,
+  70,
+  148,
+  238
+ ],
+ "total_frames": 543
+}

cover_blocks/trajectory_32/progress.json

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+{
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+  0,
+  70,
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+ ],
+ "total_frames": 536
+}

cover_blocks/trajectory_33/progress.json

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+ "total_frames": 538
+}

cover_blocks/trajectory_34/progress.json

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cover_blocks/trajectory_35/progress.json

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cover_blocks/trajectory_36/progress.json

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cover_blocks/trajectory_37/progress.json

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+ ],
+ "total_frames": 550
+}

cover_blocks/trajectory_38/progress.json

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+ ],
+ "total_frames": 548
+}

cover_blocks/trajectory_39/progress.json

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+}

cover_blocks/trajectory_4/progress.json

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+}

cover_blocks/trajectory_40/progress.json

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cover_blocks/trajectory_41/progress.json

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cover_blocks/trajectory_51/progress.json

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+}