Publish Phoenix-MWA evaluation resources (verified batch)
Browse filesExplicit evaluation-only release; no training states, raw visual data or credentials.
- metadata/gr1_unified.PosttrainPnPNovelFromCuttingboardToPotSplitA/meta/episodes.jsonl +0 -0
- metadata/gr1_unified.PosttrainPnPNovelFromCuttingboardToPotSplitA/meta/modality.json +359 -0
- metadata/gr1_unified.PosttrainPnPNovelFromCuttingboardToPotSplitA/meta/tasks.jsonl +11 -0
- metadata/gr1_unified.PosttrainPnPNovelFromCuttingboardToTieredbasketSplitA/meta/episodes.jsonl +0 -0
- metadata/gr1_unified.PosttrainPnPNovelFromCuttingboardToTieredbasketSplitA/meta/modality.json +359 -0
- metadata/gr1_unified.PosttrainPnPNovelFromCuttingboardToTieredbasketSplitA/meta/tasks.jsonl +11 -0
- metadata/gr1_unified.PosttrainPnPNovelFromPlacematToBasketSplitA/meta/episodes.jsonl +0 -0
- metadata/gr1_unified.PosttrainPnPNovelFromPlacematToBasketSplitA/meta/modality.json +359 -0
- metadata/gr1_unified.PosttrainPnPNovelFromPlacematToBasketSplitA/meta/tasks.jsonl +11 -0
- metadata/gr1_unified.PosttrainPnPNovelFromPlacematToBowlSplitA/meta/episodes.jsonl +0 -0
- metadata/gr1_unified.PosttrainPnPNovelFromPlacematToBowlSplitA/meta/modality.json +359 -0
- metadata/gr1_unified.PosttrainPnPNovelFromPlacematToBowlSplitA/meta/tasks.jsonl +11 -0
- metadata/gr1_unified.PosttrainPnPNovelFromPlacematToPlateSplitA/meta/episodes.jsonl +0 -0
- metadata/gr1_unified.PosttrainPnPNovelFromPlacematToPlateSplitA/meta/modality.json +359 -0
- metadata/gr1_unified.PosttrainPnPNovelFromPlacematToPlateSplitA/meta/tasks.jsonl +11 -0
- metadata/gr1_unified.PosttrainPnPNovelFromPlacematToTieredshelfSplitA/meta/episodes.jsonl +0 -0
- metadata/gr1_unified.PosttrainPnPNovelFromPlacematToTieredshelfSplitA/meta/modality.json +359 -0
- metadata/gr1_unified.PosttrainPnPNovelFromPlacematToTieredshelfSplitA/meta/tasks.jsonl +11 -0
- metadata/gr1_unified.PosttrainPnPNovelFromPlateToBowlSplitA/meta/episodes.jsonl +0 -0
- metadata/gr1_unified.PosttrainPnPNovelFromPlateToBowlSplitA/meta/modality.json +359 -0
- metadata/gr1_unified.PosttrainPnPNovelFromPlateToBowlSplitA/meta/tasks.jsonl +11 -0
- metadata/gr1_unified.PosttrainPnPNovelFromPlateToCardboardboxSplitA/meta/episodes.jsonl +0 -0
- metadata/gr1_unified.PosttrainPnPNovelFromPlateToCardboardboxSplitA/meta/modality.json +359 -0
- metadata/gr1_unified.PosttrainPnPNovelFromPlateToCardboardboxSplitA/meta/tasks.jsonl +11 -0
- metadata/gr1_unified.PosttrainPnPNovelFromPlateToPanSplitA/meta/episodes.jsonl +0 -0
- metadata/gr1_unified.PosttrainPnPNovelFromPlateToPanSplitA/meta/modality.json +359 -0
- metadata/gr1_unified.PosttrainPnPNovelFromPlateToPanSplitA/meta/tasks.jsonl +11 -0
- metadata/gr1_unified.PosttrainPnPNovelFromPlateToPlateSplitA/meta/episodes.jsonl +0 -0
- metadata/gr1_unified.PosttrainPnPNovelFromPlateToPlateSplitA/meta/modality.json +359 -0
- metadata/gr1_unified.PosttrainPnPNovelFromPlateToPlateSplitA/meta/tasks.jsonl +11 -0
- metadata/gr1_unified.PosttrainPnPNovelFromTrayToCardboardboxSplitA/meta/episodes.jsonl +0 -0
- metadata/gr1_unified.PosttrainPnPNovelFromTrayToCardboardboxSplitA/meta/modality.json +359 -0
metadata/gr1_unified.PosttrainPnPNovelFromCuttingboardToPotSplitA/meta/episodes.jsonl
ADDED
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metadata/gr1_unified.PosttrainPnPNovelFromCuttingboardToPotSplitA/meta/modality.json
ADDED
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| 1 |
+
{
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| 2 |
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"state": {
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| 3 |
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"left_arm": {
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 13 |
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 23 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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"right_hand": {
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| 29 |
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| 30 |
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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| 35 |
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"start": 35,
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| 36 |
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| 37 |
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| 38 |
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"waist": {
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| 39 |
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"original_key": "observation.state",
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| 40 |
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| 41 |
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|
| 42 |
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| 43 |
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| 44 |
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| 45 |
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| 46 |
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|
| 47 |
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| 48 |
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"wrist_l_rot6d": {
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| 49 |
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| 50 |
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| 51 |
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|
| 52 |
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| 53 |
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| 54 |
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| 55 |
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| 56 |
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|
| 57 |
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| 58 |
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| 59 |
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| 60 |
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| 61 |
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|
| 62 |
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| 63 |
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|
| 64 |
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| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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"index_l_rot6d": {
|
| 69 |
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| 70 |
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|
| 71 |
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|
| 72 |
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| 73 |
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| 74 |
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| 75 |
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|
| 76 |
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|
| 77 |
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| 78 |
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| 79 |
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| 80 |
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|
| 81 |
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|
| 82 |
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| 83 |
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| 84 |
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| 85 |
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|
| 86 |
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|
| 87 |
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| 88 |
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| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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| 103 |
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| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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| 108 |
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| 109 |
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| 110 |
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| 111 |
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|
| 112 |
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| 113 |
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| 114 |
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| 115 |
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| 116 |
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|
| 117 |
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| 120 |
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| 121 |
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|
| 122 |
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| 123 |
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| 125 |
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|
| 127 |
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| 129 |
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| 130 |
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| 131 |
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|
| 132 |
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| 133 |
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| 134 |
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| 135 |
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| 136 |
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|
| 137 |
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| 138 |
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| 139 |
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| 140 |
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|
| 141 |
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|
| 142 |
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| 143 |
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| 144 |
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| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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"pinky_r_pos": {
|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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"pinky_r_rot6d": {
|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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| 168 |
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| 169 |
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| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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| 174 |
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| 175 |
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| 176 |
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| 177 |
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|
| 178 |
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|
| 179 |
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| 180 |
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|
| 181 |
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| 182 |
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| 183 |
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|
| 184 |
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| 185 |
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|
| 186 |
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| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
+
"neck": {
|
| 191 |
+
"original_key": "action",
|
| 192 |
+
"start": 19,
|
| 193 |
+
"end": 22
|
| 194 |
+
},
|
| 195 |
+
"right_arm": {
|
| 196 |
+
"original_key": "action",
|
| 197 |
+
"start": 22,
|
| 198 |
+
"end": 29
|
| 199 |
+
},
|
| 200 |
+
"right_hand": {
|
| 201 |
+
"original_key": "action",
|
| 202 |
+
"start": 29,
|
| 203 |
+
"end": 35
|
| 204 |
+
},
|
| 205 |
+
"right_leg": {
|
| 206 |
+
"original_key": "action",
|
| 207 |
+
"start": 35,
|
| 208 |
+
"end": 41
|
| 209 |
+
},
|
| 210 |
+
"waist": {
|
| 211 |
+
"original_key": "action",
|
| 212 |
+
"start": 41,
|
| 213 |
+
"end": 44
|
| 214 |
+
},
|
| 215 |
+
"wrist_l_pos": {
|
| 216 |
+
"original_key": "action",
|
| 217 |
+
"start": 44,
|
| 218 |
+
"end": 47
|
| 219 |
+
},
|
| 220 |
+
"wrist_l_rot6d": {
|
| 221 |
+
"original_key": "action",
|
| 222 |
+
"start": 47,
|
| 223 |
+
"end": 53
|
| 224 |
+
},
|
| 225 |
+
"thumb_l_pos": {
|
| 226 |
+
"original_key": "action",
|
| 227 |
+
"start": 53,
|
| 228 |
+
"end": 56
|
| 229 |
+
},
|
| 230 |
+
"thumb_l_rot6d": {
|
| 231 |
+
"original_key": "action",
|
| 232 |
+
"start": 56,
|
| 233 |
+
"end": 62
|
| 234 |
+
},
|
| 235 |
+
"index_l_pos": {
|
| 236 |
+
"original_key": "action",
|
| 237 |
+
"start": 62,
|
| 238 |
+
"end": 65
|
| 239 |
+
},
|
| 240 |
+
"index_l_rot6d": {
|
| 241 |
+
"original_key": "action",
|
| 242 |
+
"start": 65,
|
| 243 |
+
"end": 71
|
| 244 |
+
},
|
| 245 |
+
"middle_l_pos": {
|
| 246 |
+
"original_key": "action",
|
| 247 |
+
"start": 71,
|
| 248 |
+
"end": 74
|
| 249 |
+
},
|
| 250 |
+
"middle_l_rot6d": {
|
| 251 |
+
"original_key": "action",
|
| 252 |
+
"start": 74,
|
| 253 |
+
"end": 80
|
| 254 |
+
},
|
| 255 |
+
"ring_l_pos": {
|
| 256 |
+
"original_key": "action",
|
| 257 |
+
"start": 80,
|
| 258 |
+
"end": 83
|
| 259 |
+
},
|
| 260 |
+
"ring_l_rot6d": {
|
| 261 |
+
"original_key": "action",
|
| 262 |
+
"start": 83,
|
| 263 |
+
"end": 89
|
| 264 |
+
},
|
| 265 |
+
"pinky_l_pos": {
|
| 266 |
+
"original_key": "action",
|
| 267 |
+
"start": 89,
|
| 268 |
+
"end": 92
|
| 269 |
+
},
|
| 270 |
+
"pinky_l_rot6d": {
|
| 271 |
+
"original_key": "action",
|
| 272 |
+
"start": 92,
|
| 273 |
+
"end": 98
|
| 274 |
+
},
|
| 275 |
+
"wrist_r_pos": {
|
| 276 |
+
"original_key": "action",
|
| 277 |
+
"start": 98,
|
| 278 |
+
"end": 101
|
| 279 |
+
},
|
| 280 |
+
"wrist_r_rot6d": {
|
| 281 |
+
"original_key": "action",
|
| 282 |
+
"start": 101,
|
| 283 |
+
"end": 107
|
| 284 |
+
},
|
| 285 |
+
"thumb_r_pos": {
|
| 286 |
+
"original_key": "action",
|
| 287 |
+
"start": 107,
|
| 288 |
+
"end": 110
|
| 289 |
+
},
|
| 290 |
+
"thumb_r_rot6d": {
|
| 291 |
+
"original_key": "action",
|
| 292 |
+
"start": 110,
|
| 293 |
+
"end": 116
|
| 294 |
+
},
|
| 295 |
+
"index_r_pos": {
|
| 296 |
+
"original_key": "action",
|
| 297 |
+
"start": 116,
|
| 298 |
+
"end": 119
|
| 299 |
+
},
|
| 300 |
+
"index_r_rot6d": {
|
| 301 |
+
"original_key": "action",
|
| 302 |
+
"start": 119,
|
| 303 |
+
"end": 125
|
| 304 |
+
},
|
| 305 |
+
"middle_r_pos": {
|
| 306 |
+
"original_key": "action",
|
| 307 |
+
"start": 125,
|
| 308 |
+
"end": 128
|
| 309 |
+
},
|
| 310 |
+
"middle_r_rot6d": {
|
| 311 |
+
"original_key": "action",
|
| 312 |
+
"start": 128,
|
| 313 |
+
"end": 134
|
| 314 |
+
},
|
| 315 |
+
"ring_r_pos": {
|
| 316 |
+
"original_key": "action",
|
| 317 |
+
"start": 134,
|
| 318 |
+
"end": 137
|
| 319 |
+
},
|
| 320 |
+
"ring_r_rot6d": {
|
| 321 |
+
"original_key": "action",
|
| 322 |
+
"start": 137,
|
| 323 |
+
"end": 143
|
| 324 |
+
},
|
| 325 |
+
"pinky_r_pos": {
|
| 326 |
+
"original_key": "action",
|
| 327 |
+
"start": 143,
|
| 328 |
+
"end": 146
|
| 329 |
+
},
|
| 330 |
+
"pinky_r_rot6d": {
|
| 331 |
+
"original_key": "action",
|
| 332 |
+
"start": 146,
|
| 333 |
+
"end": 152
|
| 334 |
+
},
|
| 335 |
+
"camera_egoview_pos": {
|
| 336 |
+
"original_key": "action",
|
| 337 |
+
"start": 152,
|
| 338 |
+
"end": 155
|
| 339 |
+
},
|
| 340 |
+
"camera_egoview_rot6d": {
|
| 341 |
+
"original_key": "action",
|
| 342 |
+
"start": 155,
|
| 343 |
+
"end": 161
|
| 344 |
+
}
|
| 345 |
+
},
|
| 346 |
+
"video": {
|
| 347 |
+
"ego_view": {
|
| 348 |
+
"original_key": "observation.images.ego_view"
|
| 349 |
+
}
|
| 350 |
+
},
|
| 351 |
+
"annotation": {
|
| 352 |
+
"human.fine_action": {
|
| 353 |
+
"original_key": "annotation.human.fine_action"
|
| 354 |
+
},
|
| 355 |
+
"human.coarse_action": {
|
| 356 |
+
"original_key": "annotation.human.coarse_action"
|
| 357 |
+
}
|
| 358 |
+
}
|
| 359 |
+
}
|
metadata/gr1_unified.PosttrainPnPNovelFromCuttingboardToPotSplitA/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1,11 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": ""}
|
| 2 |
+
{"task_index": 1, "task": "unlocked_waist: pick the bell pepper from the cutting board and place it in the pot"}
|
| 3 |
+
{"task_index": 2, "task": "unlocked_waist: pick the tomato from the cutting board and place it in the pot"}
|
| 4 |
+
{"task_index": 3, "task": "unlocked_waist: pick the sweet potato from the cutting board and place it in the pot"}
|
| 5 |
+
{"task_index": 4, "task": "unlocked_waist: pick the pear from the cutting board and place it in the pot"}
|
| 6 |
+
{"task_index": 5, "task": "unlocked_waist: pick the lemon from the cutting board and place it in the pot"}
|
| 7 |
+
{"task_index": 6, "task": "unlocked_waist: pick the squash from the cutting board and place it in the pot"}
|
| 8 |
+
{"task_index": 7, "task": "unlocked_waist: pick the croissant from the cutting board and place it in the pot"}
|
| 9 |
+
{"task_index": 8, "task": "unlocked_waist: pick the eggplant from the cutting board and place it in the pot"}
|
| 10 |
+
{"task_index": 9, "task": "unlocked_waist: pick the cupcake from the cutting board and place it in the pot"}
|
| 11 |
+
{"task_index": 10, "task": "unlocked_waist: pick the can from the cutting board and place it in the pot"}
|
metadata/gr1_unified.PosttrainPnPNovelFromCuttingboardToTieredbasketSplitA/meta/episodes.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
metadata/gr1_unified.PosttrainPnPNovelFromCuttingboardToTieredbasketSplitA/meta/modality.json
ADDED
|
@@ -0,0 +1,359 @@
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
|
|
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|
|
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|
|
|
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|
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|
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|
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|
|
|
|
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|
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|
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|
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|
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|
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|
|
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|
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|
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|
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|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
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|
|
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|
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|
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|
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|
|
|
|
|
|
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|
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|
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|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
|
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|
|
|
|
|
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|
|
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|
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|
|
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|
|
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"state": {
|
| 3 |
+
"left_arm": {
|
| 4 |
+
"original_key": "observation.state",
|
| 5 |
+
"start": 0,
|
| 6 |
+
"end": 7
|
| 7 |
+
},
|
| 8 |
+
"left_hand": {
|
| 9 |
+
"original_key": "observation.state",
|
| 10 |
+
"start": 7,
|
| 11 |
+
"end": 13
|
| 12 |
+
},
|
| 13 |
+
"left_leg": {
|
| 14 |
+
"original_key": "observation.state",
|
| 15 |
+
"start": 13,
|
| 16 |
+
"end": 19
|
| 17 |
+
},
|
| 18 |
+
"neck": {
|
| 19 |
+
"original_key": "observation.state",
|
| 20 |
+
"start": 19,
|
| 21 |
+
"end": 22
|
| 22 |
+
},
|
| 23 |
+
"right_arm": {
|
| 24 |
+
"original_key": "observation.state",
|
| 25 |
+
"start": 22,
|
| 26 |
+
"end": 29
|
| 27 |
+
},
|
| 28 |
+
"right_hand": {
|
| 29 |
+
"original_key": "observation.state",
|
| 30 |
+
"start": 29,
|
| 31 |
+
"end": 35
|
| 32 |
+
},
|
| 33 |
+
"right_leg": {
|
| 34 |
+
"original_key": "observation.state",
|
| 35 |
+
"start": 35,
|
| 36 |
+
"end": 41
|
| 37 |
+
},
|
| 38 |
+
"waist": {
|
| 39 |
+
"original_key": "observation.state",
|
| 40 |
+
"start": 41,
|
| 41 |
+
"end": 44
|
| 42 |
+
},
|
| 43 |
+
"wrist_l_pos": {
|
| 44 |
+
"original_key": "observation.state",
|
| 45 |
+
"start": 44,
|
| 46 |
+
"end": 47
|
| 47 |
+
},
|
| 48 |
+
"wrist_l_rot6d": {
|
| 49 |
+
"original_key": "observation.state",
|
| 50 |
+
"start": 47,
|
| 51 |
+
"end": 53
|
| 52 |
+
},
|
| 53 |
+
"thumb_l_pos": {
|
| 54 |
+
"original_key": "observation.state",
|
| 55 |
+
"start": 53,
|
| 56 |
+
"end": 56
|
| 57 |
+
},
|
| 58 |
+
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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"middle_l_pos": {
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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},
|
| 93 |
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|
| 94 |
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"original_key": "observation.state",
|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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},
|
| 103 |
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|
| 104 |
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"original_key": "observation.state",
|
| 105 |
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|
| 106 |
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|
| 107 |
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},
|
| 108 |
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"wrist_r_rot6d": {
|
| 109 |
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"original_key": "observation.state",
|
| 110 |
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"start": 101,
|
| 111 |
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"end": 107
|
| 112 |
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},
|
| 113 |
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"thumb_r_pos": {
|
| 114 |
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"original_key": "observation.state",
|
| 115 |
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"start": 107,
|
| 116 |
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"end": 110
|
| 117 |
+
},
|
| 118 |
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"thumb_r_rot6d": {
|
| 119 |
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"original_key": "observation.state",
|
| 120 |
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"start": 110,
|
| 121 |
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"end": 116
|
| 122 |
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},
|
| 123 |
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"index_r_pos": {
|
| 124 |
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"original_key": "observation.state",
|
| 125 |
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"start": 116,
|
| 126 |
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"end": 119
|
| 127 |
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},
|
| 128 |
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"index_r_rot6d": {
|
| 129 |
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"original_key": "observation.state",
|
| 130 |
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"start": 119,
|
| 131 |
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"end": 125
|
| 132 |
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},
|
| 133 |
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"middle_r_pos": {
|
| 134 |
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"original_key": "observation.state",
|
| 135 |
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"start": 125,
|
| 136 |
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"end": 128
|
| 137 |
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},
|
| 138 |
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"middle_r_rot6d": {
|
| 139 |
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"original_key": "observation.state",
|
| 140 |
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"start": 128,
|
| 141 |
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"end": 134
|
| 142 |
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},
|
| 143 |
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|
| 144 |
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"original_key": "observation.state",
|
| 145 |
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"start": 134,
|
| 146 |
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"end": 137
|
| 147 |
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},
|
| 148 |
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"ring_r_rot6d": {
|
| 149 |
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"original_key": "observation.state",
|
| 150 |
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"start": 137,
|
| 151 |
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"end": 143
|
| 152 |
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},
|
| 153 |
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"pinky_r_pos": {
|
| 154 |
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"original_key": "observation.state",
|
| 155 |
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"start": 143,
|
| 156 |
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"end": 146
|
| 157 |
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},
|
| 158 |
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"pinky_r_rot6d": {
|
| 159 |
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"original_key": "observation.state",
|
| 160 |
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"start": 146,
|
| 161 |
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"end": 152
|
| 162 |
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},
|
| 163 |
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"camera_egoview_pos": {
|
| 164 |
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"original_key": "observation.state",
|
| 165 |
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"start": 152,
|
| 166 |
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"end": 155
|
| 167 |
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},
|
| 168 |
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"camera_egoview_rot6d": {
|
| 169 |
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"original_key": "observation.state",
|
| 170 |
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"start": 155,
|
| 171 |
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"end": 161
|
| 172 |
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}
|
| 173 |
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},
|
| 174 |
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"action": {
|
| 175 |
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"left_arm": {
|
| 176 |
+
"original_key": "action",
|
| 177 |
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"start": 0,
|
| 178 |
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"end": 7
|
| 179 |
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},
|
| 180 |
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"left_hand": {
|
| 181 |
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"original_key": "action",
|
| 182 |
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"start": 7,
|
| 183 |
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"end": 13
|
| 184 |
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},
|
| 185 |
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"left_leg": {
|
| 186 |
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"original_key": "action",
|
| 187 |
+
"start": 13,
|
| 188 |
+
"end": 19
|
| 189 |
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},
|
| 190 |
+
"neck": {
|
| 191 |
+
"original_key": "action",
|
| 192 |
+
"start": 19,
|
| 193 |
+
"end": 22
|
| 194 |
+
},
|
| 195 |
+
"right_arm": {
|
| 196 |
+
"original_key": "action",
|
| 197 |
+
"start": 22,
|
| 198 |
+
"end": 29
|
| 199 |
+
},
|
| 200 |
+
"right_hand": {
|
| 201 |
+
"original_key": "action",
|
| 202 |
+
"start": 29,
|
| 203 |
+
"end": 35
|
| 204 |
+
},
|
| 205 |
+
"right_leg": {
|
| 206 |
+
"original_key": "action",
|
| 207 |
+
"start": 35,
|
| 208 |
+
"end": 41
|
| 209 |
+
},
|
| 210 |
+
"waist": {
|
| 211 |
+
"original_key": "action",
|
| 212 |
+
"start": 41,
|
| 213 |
+
"end": 44
|
| 214 |
+
},
|
| 215 |
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"wrist_l_pos": {
|
| 216 |
+
"original_key": "action",
|
| 217 |
+
"start": 44,
|
| 218 |
+
"end": 47
|
| 219 |
+
},
|
| 220 |
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"wrist_l_rot6d": {
|
| 221 |
+
"original_key": "action",
|
| 222 |
+
"start": 47,
|
| 223 |
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"end": 53
|
| 224 |
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},
|
| 225 |
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"thumb_l_pos": {
|
| 226 |
+
"original_key": "action",
|
| 227 |
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"start": 53,
|
| 228 |
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"end": 56
|
| 229 |
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},
|
| 230 |
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"thumb_l_rot6d": {
|
| 231 |
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"original_key": "action",
|
| 232 |
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"start": 56,
|
| 233 |
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"end": 62
|
| 234 |
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},
|
| 235 |
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"index_l_pos": {
|
| 236 |
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"original_key": "action",
|
| 237 |
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"start": 62,
|
| 238 |
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"end": 65
|
| 239 |
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},
|
| 240 |
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"index_l_rot6d": {
|
| 241 |
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"original_key": "action",
|
| 242 |
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"start": 65,
|
| 243 |
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"end": 71
|
| 244 |
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},
|
| 245 |
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"middle_l_pos": {
|
| 246 |
+
"original_key": "action",
|
| 247 |
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"start": 71,
|
| 248 |
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"end": 74
|
| 249 |
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},
|
| 250 |
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"middle_l_rot6d": {
|
| 251 |
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"original_key": "action",
|
| 252 |
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"start": 74,
|
| 253 |
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"end": 80
|
| 254 |
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},
|
| 255 |
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|
| 256 |
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"original_key": "action",
|
| 257 |
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"start": 80,
|
| 258 |
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"end": 83
|
| 259 |
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},
|
| 260 |
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"ring_l_rot6d": {
|
| 261 |
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"original_key": "action",
|
| 262 |
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"start": 83,
|
| 263 |
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"end": 89
|
| 264 |
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},
|
| 265 |
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|
| 266 |
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"original_key": "action",
|
| 267 |
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"start": 89,
|
| 268 |
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|
| 269 |
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},
|
| 270 |
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|
| 271 |
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"original_key": "action",
|
| 272 |
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"start": 92,
|
| 273 |
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|
| 274 |
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},
|
| 275 |
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"wrist_r_pos": {
|
| 276 |
+
"original_key": "action",
|
| 277 |
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"start": 98,
|
| 278 |
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|
| 279 |
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},
|
| 280 |
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"wrist_r_rot6d": {
|
| 281 |
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"original_key": "action",
|
| 282 |
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"start": 101,
|
| 283 |
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|
| 284 |
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},
|
| 285 |
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|
| 286 |
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"original_key": "action",
|
| 287 |
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"start": 107,
|
| 288 |
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|
| 289 |
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},
|
| 290 |
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"thumb_r_rot6d": {
|
| 291 |
+
"original_key": "action",
|
| 292 |
+
"start": 110,
|
| 293 |
+
"end": 116
|
| 294 |
+
},
|
| 295 |
+
"index_r_pos": {
|
| 296 |
+
"original_key": "action",
|
| 297 |
+
"start": 116,
|
| 298 |
+
"end": 119
|
| 299 |
+
},
|
| 300 |
+
"index_r_rot6d": {
|
| 301 |
+
"original_key": "action",
|
| 302 |
+
"start": 119,
|
| 303 |
+
"end": 125
|
| 304 |
+
},
|
| 305 |
+
"middle_r_pos": {
|
| 306 |
+
"original_key": "action",
|
| 307 |
+
"start": 125,
|
| 308 |
+
"end": 128
|
| 309 |
+
},
|
| 310 |
+
"middle_r_rot6d": {
|
| 311 |
+
"original_key": "action",
|
| 312 |
+
"start": 128,
|
| 313 |
+
"end": 134
|
| 314 |
+
},
|
| 315 |
+
"ring_r_pos": {
|
| 316 |
+
"original_key": "action",
|
| 317 |
+
"start": 134,
|
| 318 |
+
"end": 137
|
| 319 |
+
},
|
| 320 |
+
"ring_r_rot6d": {
|
| 321 |
+
"original_key": "action",
|
| 322 |
+
"start": 137,
|
| 323 |
+
"end": 143
|
| 324 |
+
},
|
| 325 |
+
"pinky_r_pos": {
|
| 326 |
+
"original_key": "action",
|
| 327 |
+
"start": 143,
|
| 328 |
+
"end": 146
|
| 329 |
+
},
|
| 330 |
+
"pinky_r_rot6d": {
|
| 331 |
+
"original_key": "action",
|
| 332 |
+
"start": 146,
|
| 333 |
+
"end": 152
|
| 334 |
+
},
|
| 335 |
+
"camera_egoview_pos": {
|
| 336 |
+
"original_key": "action",
|
| 337 |
+
"start": 152,
|
| 338 |
+
"end": 155
|
| 339 |
+
},
|
| 340 |
+
"camera_egoview_rot6d": {
|
| 341 |
+
"original_key": "action",
|
| 342 |
+
"start": 155,
|
| 343 |
+
"end": 161
|
| 344 |
+
}
|
| 345 |
+
},
|
| 346 |
+
"video": {
|
| 347 |
+
"ego_view": {
|
| 348 |
+
"original_key": "observation.images.ego_view"
|
| 349 |
+
}
|
| 350 |
+
},
|
| 351 |
+
"annotation": {
|
| 352 |
+
"human.fine_action": {
|
| 353 |
+
"original_key": "annotation.human.fine_action"
|
| 354 |
+
},
|
| 355 |
+
"human.coarse_action": {
|
| 356 |
+
"original_key": "annotation.human.coarse_action"
|
| 357 |
+
}
|
| 358 |
+
}
|
| 359 |
+
}
|
metadata/gr1_unified.PosttrainPnPNovelFromCuttingboardToTieredbasketSplitA/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1,11 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": ""}
|
| 2 |
+
{"task_index": 1, "task": "unlocked_waist: pick the squash from the cutting board and place it in the tiered basket"}
|
| 3 |
+
{"task_index": 2, "task": "unlocked_waist: pick the croissant from the cutting board and place it in the tiered basket"}
|
| 4 |
+
{"task_index": 3, "task": "unlocked_waist: pick the tomato from the cutting board and place it in the tiered basket"}
|
| 5 |
+
{"task_index": 4, "task": "unlocked_waist: pick the bell pepper from the cutting board and place it in the tiered basket"}
|
| 6 |
+
{"task_index": 5, "task": "unlocked_waist: pick the pear from the cutting board and place it in the tiered basket"}
|
| 7 |
+
{"task_index": 6, "task": "unlocked_waist: pick the lemon from the cutting board and place it in the tiered basket"}
|
| 8 |
+
{"task_index": 7, "task": "unlocked_waist: pick the can from the cutting board and place it in the tiered basket"}
|
| 9 |
+
{"task_index": 8, "task": "unlocked_waist: pick the eggplant from the cutting board and place it in the tiered basket"}
|
| 10 |
+
{"task_index": 9, "task": "unlocked_waist: pick the cupcake from the cutting board and place it in the tiered basket"}
|
| 11 |
+
{"task_index": 10, "task": "unlocked_waist: pick the sweet potato from the cutting board and place it in the tiered basket"}
|
metadata/gr1_unified.PosttrainPnPNovelFromPlacematToBasketSplitA/meta/episodes.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
metadata/gr1_unified.PosttrainPnPNovelFromPlacematToBasketSplitA/meta/modality.json
ADDED
|
@@ -0,0 +1,359 @@
|
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|
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|
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|
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|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
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|
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|
|
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|
|
|
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|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"state": {
|
| 3 |
+
"left_arm": {
|
| 4 |
+
"original_key": "observation.state",
|
| 5 |
+
"start": 0,
|
| 6 |
+
"end": 7
|
| 7 |
+
},
|
| 8 |
+
"left_hand": {
|
| 9 |
+
"original_key": "observation.state",
|
| 10 |
+
"start": 7,
|
| 11 |
+
"end": 13
|
| 12 |
+
},
|
| 13 |
+
"left_leg": {
|
| 14 |
+
"original_key": "observation.state",
|
| 15 |
+
"start": 13,
|
| 16 |
+
"end": 19
|
| 17 |
+
},
|
| 18 |
+
"neck": {
|
| 19 |
+
"original_key": "observation.state",
|
| 20 |
+
"start": 19,
|
| 21 |
+
"end": 22
|
| 22 |
+
},
|
| 23 |
+
"right_arm": {
|
| 24 |
+
"original_key": "observation.state",
|
| 25 |
+
"start": 22,
|
| 26 |
+
"end": 29
|
| 27 |
+
},
|
| 28 |
+
"right_hand": {
|
| 29 |
+
"original_key": "observation.state",
|
| 30 |
+
"start": 29,
|
| 31 |
+
"end": 35
|
| 32 |
+
},
|
| 33 |
+
"right_leg": {
|
| 34 |
+
"original_key": "observation.state",
|
| 35 |
+
"start": 35,
|
| 36 |
+
"end": 41
|
| 37 |
+
},
|
| 38 |
+
"waist": {
|
| 39 |
+
"original_key": "observation.state",
|
| 40 |
+
"start": 41,
|
| 41 |
+
"end": 44
|
| 42 |
+
},
|
| 43 |
+
"wrist_l_pos": {
|
| 44 |
+
"original_key": "observation.state",
|
| 45 |
+
"start": 44,
|
| 46 |
+
"end": 47
|
| 47 |
+
},
|
| 48 |
+
"wrist_l_rot6d": {
|
| 49 |
+
"original_key": "observation.state",
|
| 50 |
+
"start": 47,
|
| 51 |
+
"end": 53
|
| 52 |
+
},
|
| 53 |
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"thumb_l_pos": {
|
| 54 |
+
"original_key": "observation.state",
|
| 55 |
+
"start": 53,
|
| 56 |
+
"end": 56
|
| 57 |
+
},
|
| 58 |
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"thumb_l_rot6d": {
|
| 59 |
+
"original_key": "observation.state",
|
| 60 |
+
"start": 56,
|
| 61 |
+
"end": 62
|
| 62 |
+
},
|
| 63 |
+
"index_l_pos": {
|
| 64 |
+
"original_key": "observation.state",
|
| 65 |
+
"start": 62,
|
| 66 |
+
"end": 65
|
| 67 |
+
},
|
| 68 |
+
"index_l_rot6d": {
|
| 69 |
+
"original_key": "observation.state",
|
| 70 |
+
"start": 65,
|
| 71 |
+
"end": 71
|
| 72 |
+
},
|
| 73 |
+
"middle_l_pos": {
|
| 74 |
+
"original_key": "observation.state",
|
| 75 |
+
"start": 71,
|
| 76 |
+
"end": 74
|
| 77 |
+
},
|
| 78 |
+
"middle_l_rot6d": {
|
| 79 |
+
"original_key": "observation.state",
|
| 80 |
+
"start": 74,
|
| 81 |
+
"end": 80
|
| 82 |
+
},
|
| 83 |
+
"ring_l_pos": {
|
| 84 |
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"original_key": "observation.state",
|
| 85 |
+
"start": 80,
|
| 86 |
+
"end": 83
|
| 87 |
+
},
|
| 88 |
+
"ring_l_rot6d": {
|
| 89 |
+
"original_key": "observation.state",
|
| 90 |
+
"start": 83,
|
| 91 |
+
"end": 89
|
| 92 |
+
},
|
| 93 |
+
"pinky_l_pos": {
|
| 94 |
+
"original_key": "observation.state",
|
| 95 |
+
"start": 89,
|
| 96 |
+
"end": 92
|
| 97 |
+
},
|
| 98 |
+
"pinky_l_rot6d": {
|
| 99 |
+
"original_key": "observation.state",
|
| 100 |
+
"start": 92,
|
| 101 |
+
"end": 98
|
| 102 |
+
},
|
| 103 |
+
"wrist_r_pos": {
|
| 104 |
+
"original_key": "observation.state",
|
| 105 |
+
"start": 98,
|
| 106 |
+
"end": 101
|
| 107 |
+
},
|
| 108 |
+
"wrist_r_rot6d": {
|
| 109 |
+
"original_key": "observation.state",
|
| 110 |
+
"start": 101,
|
| 111 |
+
"end": 107
|
| 112 |
+
},
|
| 113 |
+
"thumb_r_pos": {
|
| 114 |
+
"original_key": "observation.state",
|
| 115 |
+
"start": 107,
|
| 116 |
+
"end": 110
|
| 117 |
+
},
|
| 118 |
+
"thumb_r_rot6d": {
|
| 119 |
+
"original_key": "observation.state",
|
| 120 |
+
"start": 110,
|
| 121 |
+
"end": 116
|
| 122 |
+
},
|
| 123 |
+
"index_r_pos": {
|
| 124 |
+
"original_key": "observation.state",
|
| 125 |
+
"start": 116,
|
| 126 |
+
"end": 119
|
| 127 |
+
},
|
| 128 |
+
"index_r_rot6d": {
|
| 129 |
+
"original_key": "observation.state",
|
| 130 |
+
"start": 119,
|
| 131 |
+
"end": 125
|
| 132 |
+
},
|
| 133 |
+
"middle_r_pos": {
|
| 134 |
+
"original_key": "observation.state",
|
| 135 |
+
"start": 125,
|
| 136 |
+
"end": 128
|
| 137 |
+
},
|
| 138 |
+
"middle_r_rot6d": {
|
| 139 |
+
"original_key": "observation.state",
|
| 140 |
+
"start": 128,
|
| 141 |
+
"end": 134
|
| 142 |
+
},
|
| 143 |
+
"ring_r_pos": {
|
| 144 |
+
"original_key": "observation.state",
|
| 145 |
+
"start": 134,
|
| 146 |
+
"end": 137
|
| 147 |
+
},
|
| 148 |
+
"ring_r_rot6d": {
|
| 149 |
+
"original_key": "observation.state",
|
| 150 |
+
"start": 137,
|
| 151 |
+
"end": 143
|
| 152 |
+
},
|
| 153 |
+
"pinky_r_pos": {
|
| 154 |
+
"original_key": "observation.state",
|
| 155 |
+
"start": 143,
|
| 156 |
+
"end": 146
|
| 157 |
+
},
|
| 158 |
+
"pinky_r_rot6d": {
|
| 159 |
+
"original_key": "observation.state",
|
| 160 |
+
"start": 146,
|
| 161 |
+
"end": 152
|
| 162 |
+
},
|
| 163 |
+
"camera_egoview_pos": {
|
| 164 |
+
"original_key": "observation.state",
|
| 165 |
+
"start": 152,
|
| 166 |
+
"end": 155
|
| 167 |
+
},
|
| 168 |
+
"camera_egoview_rot6d": {
|
| 169 |
+
"original_key": "observation.state",
|
| 170 |
+
"start": 155,
|
| 171 |
+
"end": 161
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"action": {
|
| 175 |
+
"left_arm": {
|
| 176 |
+
"original_key": "action",
|
| 177 |
+
"start": 0,
|
| 178 |
+
"end": 7
|
| 179 |
+
},
|
| 180 |
+
"left_hand": {
|
| 181 |
+
"original_key": "action",
|
| 182 |
+
"start": 7,
|
| 183 |
+
"end": 13
|
| 184 |
+
},
|
| 185 |
+
"left_leg": {
|
| 186 |
+
"original_key": "action",
|
| 187 |
+
"start": 13,
|
| 188 |
+
"end": 19
|
| 189 |
+
},
|
| 190 |
+
"neck": {
|
| 191 |
+
"original_key": "action",
|
| 192 |
+
"start": 19,
|
| 193 |
+
"end": 22
|
| 194 |
+
},
|
| 195 |
+
"right_arm": {
|
| 196 |
+
"original_key": "action",
|
| 197 |
+
"start": 22,
|
| 198 |
+
"end": 29
|
| 199 |
+
},
|
| 200 |
+
"right_hand": {
|
| 201 |
+
"original_key": "action",
|
| 202 |
+
"start": 29,
|
| 203 |
+
"end": 35
|
| 204 |
+
},
|
| 205 |
+
"right_leg": {
|
| 206 |
+
"original_key": "action",
|
| 207 |
+
"start": 35,
|
| 208 |
+
"end": 41
|
| 209 |
+
},
|
| 210 |
+
"waist": {
|
| 211 |
+
"original_key": "action",
|
| 212 |
+
"start": 41,
|
| 213 |
+
"end": 44
|
| 214 |
+
},
|
| 215 |
+
"wrist_l_pos": {
|
| 216 |
+
"original_key": "action",
|
| 217 |
+
"start": 44,
|
| 218 |
+
"end": 47
|
| 219 |
+
},
|
| 220 |
+
"wrist_l_rot6d": {
|
| 221 |
+
"original_key": "action",
|
| 222 |
+
"start": 47,
|
| 223 |
+
"end": 53
|
| 224 |
+
},
|
| 225 |
+
"thumb_l_pos": {
|
| 226 |
+
"original_key": "action",
|
| 227 |
+
"start": 53,
|
| 228 |
+
"end": 56
|
| 229 |
+
},
|
| 230 |
+
"thumb_l_rot6d": {
|
| 231 |
+
"original_key": "action",
|
| 232 |
+
"start": 56,
|
| 233 |
+
"end": 62
|
| 234 |
+
},
|
| 235 |
+
"index_l_pos": {
|
| 236 |
+
"original_key": "action",
|
| 237 |
+
"start": 62,
|
| 238 |
+
"end": 65
|
| 239 |
+
},
|
| 240 |
+
"index_l_rot6d": {
|
| 241 |
+
"original_key": "action",
|
| 242 |
+
"start": 65,
|
| 243 |
+
"end": 71
|
| 244 |
+
},
|
| 245 |
+
"middle_l_pos": {
|
| 246 |
+
"original_key": "action",
|
| 247 |
+
"start": 71,
|
| 248 |
+
"end": 74
|
| 249 |
+
},
|
| 250 |
+
"middle_l_rot6d": {
|
| 251 |
+
"original_key": "action",
|
| 252 |
+
"start": 74,
|
| 253 |
+
"end": 80
|
| 254 |
+
},
|
| 255 |
+
"ring_l_pos": {
|
| 256 |
+
"original_key": "action",
|
| 257 |
+
"start": 80,
|
| 258 |
+
"end": 83
|
| 259 |
+
},
|
| 260 |
+
"ring_l_rot6d": {
|
| 261 |
+
"original_key": "action",
|
| 262 |
+
"start": 83,
|
| 263 |
+
"end": 89
|
| 264 |
+
},
|
| 265 |
+
"pinky_l_pos": {
|
| 266 |
+
"original_key": "action",
|
| 267 |
+
"start": 89,
|
| 268 |
+
"end": 92
|
| 269 |
+
},
|
| 270 |
+
"pinky_l_rot6d": {
|
| 271 |
+
"original_key": "action",
|
| 272 |
+
"start": 92,
|
| 273 |
+
"end": 98
|
| 274 |
+
},
|
| 275 |
+
"wrist_r_pos": {
|
| 276 |
+
"original_key": "action",
|
| 277 |
+
"start": 98,
|
| 278 |
+
"end": 101
|
| 279 |
+
},
|
| 280 |
+
"wrist_r_rot6d": {
|
| 281 |
+
"original_key": "action",
|
| 282 |
+
"start": 101,
|
| 283 |
+
"end": 107
|
| 284 |
+
},
|
| 285 |
+
"thumb_r_pos": {
|
| 286 |
+
"original_key": "action",
|
| 287 |
+
"start": 107,
|
| 288 |
+
"end": 110
|
| 289 |
+
},
|
| 290 |
+
"thumb_r_rot6d": {
|
| 291 |
+
"original_key": "action",
|
| 292 |
+
"start": 110,
|
| 293 |
+
"end": 116
|
| 294 |
+
},
|
| 295 |
+
"index_r_pos": {
|
| 296 |
+
"original_key": "action",
|
| 297 |
+
"start": 116,
|
| 298 |
+
"end": 119
|
| 299 |
+
},
|
| 300 |
+
"index_r_rot6d": {
|
| 301 |
+
"original_key": "action",
|
| 302 |
+
"start": 119,
|
| 303 |
+
"end": 125
|
| 304 |
+
},
|
| 305 |
+
"middle_r_pos": {
|
| 306 |
+
"original_key": "action",
|
| 307 |
+
"start": 125,
|
| 308 |
+
"end": 128
|
| 309 |
+
},
|
| 310 |
+
"middle_r_rot6d": {
|
| 311 |
+
"original_key": "action",
|
| 312 |
+
"start": 128,
|
| 313 |
+
"end": 134
|
| 314 |
+
},
|
| 315 |
+
"ring_r_pos": {
|
| 316 |
+
"original_key": "action",
|
| 317 |
+
"start": 134,
|
| 318 |
+
"end": 137
|
| 319 |
+
},
|
| 320 |
+
"ring_r_rot6d": {
|
| 321 |
+
"original_key": "action",
|
| 322 |
+
"start": 137,
|
| 323 |
+
"end": 143
|
| 324 |
+
},
|
| 325 |
+
"pinky_r_pos": {
|
| 326 |
+
"original_key": "action",
|
| 327 |
+
"start": 143,
|
| 328 |
+
"end": 146
|
| 329 |
+
},
|
| 330 |
+
"pinky_r_rot6d": {
|
| 331 |
+
"original_key": "action",
|
| 332 |
+
"start": 146,
|
| 333 |
+
"end": 152
|
| 334 |
+
},
|
| 335 |
+
"camera_egoview_pos": {
|
| 336 |
+
"original_key": "action",
|
| 337 |
+
"start": 152,
|
| 338 |
+
"end": 155
|
| 339 |
+
},
|
| 340 |
+
"camera_egoview_rot6d": {
|
| 341 |
+
"original_key": "action",
|
| 342 |
+
"start": 155,
|
| 343 |
+
"end": 161
|
| 344 |
+
}
|
| 345 |
+
},
|
| 346 |
+
"video": {
|
| 347 |
+
"ego_view": {
|
| 348 |
+
"original_key": "observation.images.ego_view"
|
| 349 |
+
}
|
| 350 |
+
},
|
| 351 |
+
"annotation": {
|
| 352 |
+
"human.fine_action": {
|
| 353 |
+
"original_key": "annotation.human.fine_action"
|
| 354 |
+
},
|
| 355 |
+
"human.coarse_action": {
|
| 356 |
+
"original_key": "annotation.human.coarse_action"
|
| 357 |
+
}
|
| 358 |
+
}
|
| 359 |
+
}
|
metadata/gr1_unified.PosttrainPnPNovelFromPlacematToBasketSplitA/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1,11 @@
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": ""}
|
| 2 |
+
{"task_index": 1, "task": "unlocked_waist: pick the croissant from the placemat and place it in the basket"}
|
| 3 |
+
{"task_index": 2, "task": "unlocked_waist: pick the can from the placemat and place it in the basket"}
|
| 4 |
+
{"task_index": 3, "task": "unlocked_waist: pick the bell pepper from the placemat and place it in the basket"}
|
| 5 |
+
{"task_index": 4, "task": "unlocked_waist: pick the eggplant from the placemat and place it in the basket"}
|
| 6 |
+
{"task_index": 5, "task": "unlocked_waist: pick the squash from the placemat and place it in the basket"}
|
| 7 |
+
{"task_index": 6, "task": "unlocked_waist: pick the lemon from the placemat and place it in the basket"}
|
| 8 |
+
{"task_index": 7, "task": "unlocked_waist: pick the tomato from the placemat and place it in the basket"}
|
| 9 |
+
{"task_index": 8, "task": "unlocked_waist: pick the sweet potato from the placemat and place it in the basket"}
|
| 10 |
+
{"task_index": 9, "task": "unlocked_waist: pick the cupcake from the placemat and place it in the basket"}
|
| 11 |
+
{"task_index": 10, "task": "unlocked_waist: pick the pear from the placemat and place it in the basket"}
|
metadata/gr1_unified.PosttrainPnPNovelFromPlacematToBowlSplitA/meta/episodes.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
metadata/gr1_unified.PosttrainPnPNovelFromPlacematToBowlSplitA/meta/modality.json
ADDED
|
@@ -0,0 +1,359 @@
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"state": {
|
| 3 |
+
"left_arm": {
|
| 4 |
+
"original_key": "observation.state",
|
| 5 |
+
"start": 0,
|
| 6 |
+
"end": 7
|
| 7 |
+
},
|
| 8 |
+
"left_hand": {
|
| 9 |
+
"original_key": "observation.state",
|
| 10 |
+
"start": 7,
|
| 11 |
+
"end": 13
|
| 12 |
+
},
|
| 13 |
+
"left_leg": {
|
| 14 |
+
"original_key": "observation.state",
|
| 15 |
+
"start": 13,
|
| 16 |
+
"end": 19
|
| 17 |
+
},
|
| 18 |
+
"neck": {
|
| 19 |
+
"original_key": "observation.state",
|
| 20 |
+
"start": 19,
|
| 21 |
+
"end": 22
|
| 22 |
+
},
|
| 23 |
+
"right_arm": {
|
| 24 |
+
"original_key": "observation.state",
|
| 25 |
+
"start": 22,
|
| 26 |
+
"end": 29
|
| 27 |
+
},
|
| 28 |
+
"right_hand": {
|
| 29 |
+
"original_key": "observation.state",
|
| 30 |
+
"start": 29,
|
| 31 |
+
"end": 35
|
| 32 |
+
},
|
| 33 |
+
"right_leg": {
|
| 34 |
+
"original_key": "observation.state",
|
| 35 |
+
"start": 35,
|
| 36 |
+
"end": 41
|
| 37 |
+
},
|
| 38 |
+
"waist": {
|
| 39 |
+
"original_key": "observation.state",
|
| 40 |
+
"start": 41,
|
| 41 |
+
"end": 44
|
| 42 |
+
},
|
| 43 |
+
"wrist_l_pos": {
|
| 44 |
+
"original_key": "observation.state",
|
| 45 |
+
"start": 44,
|
| 46 |
+
"end": 47
|
| 47 |
+
},
|
| 48 |
+
"wrist_l_rot6d": {
|
| 49 |
+
"original_key": "observation.state",
|
| 50 |
+
"start": 47,
|
| 51 |
+
"end": 53
|
| 52 |
+
},
|
| 53 |
+
"thumb_l_pos": {
|
| 54 |
+
"original_key": "observation.state",
|
| 55 |
+
"start": 53,
|
| 56 |
+
"end": 56
|
| 57 |
+
},
|
| 58 |
+
"thumb_l_rot6d": {
|
| 59 |
+
"original_key": "observation.state",
|
| 60 |
+
"start": 56,
|
| 61 |
+
"end": 62
|
| 62 |
+
},
|
| 63 |
+
"index_l_pos": {
|
| 64 |
+
"original_key": "observation.state",
|
| 65 |
+
"start": 62,
|
| 66 |
+
"end": 65
|
| 67 |
+
},
|
| 68 |
+
"index_l_rot6d": {
|
| 69 |
+
"original_key": "observation.state",
|
| 70 |
+
"start": 65,
|
| 71 |
+
"end": 71
|
| 72 |
+
},
|
| 73 |
+
"middle_l_pos": {
|
| 74 |
+
"original_key": "observation.state",
|
| 75 |
+
"start": 71,
|
| 76 |
+
"end": 74
|
| 77 |
+
},
|
| 78 |
+
"middle_l_rot6d": {
|
| 79 |
+
"original_key": "observation.state",
|
| 80 |
+
"start": 74,
|
| 81 |
+
"end": 80
|
| 82 |
+
},
|
| 83 |
+
"ring_l_pos": {
|
| 84 |
+
"original_key": "observation.state",
|
| 85 |
+
"start": 80,
|
| 86 |
+
"end": 83
|
| 87 |
+
},
|
| 88 |
+
"ring_l_rot6d": {
|
| 89 |
+
"original_key": "observation.state",
|
| 90 |
+
"start": 83,
|
| 91 |
+
"end": 89
|
| 92 |
+
},
|
| 93 |
+
"pinky_l_pos": {
|
| 94 |
+
"original_key": "observation.state",
|
| 95 |
+
"start": 89,
|
| 96 |
+
"end": 92
|
| 97 |
+
},
|
| 98 |
+
"pinky_l_rot6d": {
|
| 99 |
+
"original_key": "observation.state",
|
| 100 |
+
"start": 92,
|
| 101 |
+
"end": 98
|
| 102 |
+
},
|
| 103 |
+
"wrist_r_pos": {
|
| 104 |
+
"original_key": "observation.state",
|
| 105 |
+
"start": 98,
|
| 106 |
+
"end": 101
|
| 107 |
+
},
|
| 108 |
+
"wrist_r_rot6d": {
|
| 109 |
+
"original_key": "observation.state",
|
| 110 |
+
"start": 101,
|
| 111 |
+
"end": 107
|
| 112 |
+
},
|
| 113 |
+
"thumb_r_pos": {
|
| 114 |
+
"original_key": "observation.state",
|
| 115 |
+
"start": 107,
|
| 116 |
+
"end": 110
|
| 117 |
+
},
|
| 118 |
+
"thumb_r_rot6d": {
|
| 119 |
+
"original_key": "observation.state",
|
| 120 |
+
"start": 110,
|
| 121 |
+
"end": 116
|
| 122 |
+
},
|
| 123 |
+
"index_r_pos": {
|
| 124 |
+
"original_key": "observation.state",
|
| 125 |
+
"start": 116,
|
| 126 |
+
"end": 119
|
| 127 |
+
},
|
| 128 |
+
"index_r_rot6d": {
|
| 129 |
+
"original_key": "observation.state",
|
| 130 |
+
"start": 119,
|
| 131 |
+
"end": 125
|
| 132 |
+
},
|
| 133 |
+
"middle_r_pos": {
|
| 134 |
+
"original_key": "observation.state",
|
| 135 |
+
"start": 125,
|
| 136 |
+
"end": 128
|
| 137 |
+
},
|
| 138 |
+
"middle_r_rot6d": {
|
| 139 |
+
"original_key": "observation.state",
|
| 140 |
+
"start": 128,
|
| 141 |
+
"end": 134
|
| 142 |
+
},
|
| 143 |
+
"ring_r_pos": {
|
| 144 |
+
"original_key": "observation.state",
|
| 145 |
+
"start": 134,
|
| 146 |
+
"end": 137
|
| 147 |
+
},
|
| 148 |
+
"ring_r_rot6d": {
|
| 149 |
+
"original_key": "observation.state",
|
| 150 |
+
"start": 137,
|
| 151 |
+
"end": 143
|
| 152 |
+
},
|
| 153 |
+
"pinky_r_pos": {
|
| 154 |
+
"original_key": "observation.state",
|
| 155 |
+
"start": 143,
|
| 156 |
+
"end": 146
|
| 157 |
+
},
|
| 158 |
+
"pinky_r_rot6d": {
|
| 159 |
+
"original_key": "observation.state",
|
| 160 |
+
"start": 146,
|
| 161 |
+
"end": 152
|
| 162 |
+
},
|
| 163 |
+
"camera_egoview_pos": {
|
| 164 |
+
"original_key": "observation.state",
|
| 165 |
+
"start": 152,
|
| 166 |
+
"end": 155
|
| 167 |
+
},
|
| 168 |
+
"camera_egoview_rot6d": {
|
| 169 |
+
"original_key": "observation.state",
|
| 170 |
+
"start": 155,
|
| 171 |
+
"end": 161
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"action": {
|
| 175 |
+
"left_arm": {
|
| 176 |
+
"original_key": "action",
|
| 177 |
+
"start": 0,
|
| 178 |
+
"end": 7
|
| 179 |
+
},
|
| 180 |
+
"left_hand": {
|
| 181 |
+
"original_key": "action",
|
| 182 |
+
"start": 7,
|
| 183 |
+
"end": 13
|
| 184 |
+
},
|
| 185 |
+
"left_leg": {
|
| 186 |
+
"original_key": "action",
|
| 187 |
+
"start": 13,
|
| 188 |
+
"end": 19
|
| 189 |
+
},
|
| 190 |
+
"neck": {
|
| 191 |
+
"original_key": "action",
|
| 192 |
+
"start": 19,
|
| 193 |
+
"end": 22
|
| 194 |
+
},
|
| 195 |
+
"right_arm": {
|
| 196 |
+
"original_key": "action",
|
| 197 |
+
"start": 22,
|
| 198 |
+
"end": 29
|
| 199 |
+
},
|
| 200 |
+
"right_hand": {
|
| 201 |
+
"original_key": "action",
|
| 202 |
+
"start": 29,
|
| 203 |
+
"end": 35
|
| 204 |
+
},
|
| 205 |
+
"right_leg": {
|
| 206 |
+
"original_key": "action",
|
| 207 |
+
"start": 35,
|
| 208 |
+
"end": 41
|
| 209 |
+
},
|
| 210 |
+
"waist": {
|
| 211 |
+
"original_key": "action",
|
| 212 |
+
"start": 41,
|
| 213 |
+
"end": 44
|
| 214 |
+
},
|
| 215 |
+
"wrist_l_pos": {
|
| 216 |
+
"original_key": "action",
|
| 217 |
+
"start": 44,
|
| 218 |
+
"end": 47
|
| 219 |
+
},
|
| 220 |
+
"wrist_l_rot6d": {
|
| 221 |
+
"original_key": "action",
|
| 222 |
+
"start": 47,
|
| 223 |
+
"end": 53
|
| 224 |
+
},
|
| 225 |
+
"thumb_l_pos": {
|
| 226 |
+
"original_key": "action",
|
| 227 |
+
"start": 53,
|
| 228 |
+
"end": 56
|
| 229 |
+
},
|
| 230 |
+
"thumb_l_rot6d": {
|
| 231 |
+
"original_key": "action",
|
| 232 |
+
"start": 56,
|
| 233 |
+
"end": 62
|
| 234 |
+
},
|
| 235 |
+
"index_l_pos": {
|
| 236 |
+
"original_key": "action",
|
| 237 |
+
"start": 62,
|
| 238 |
+
"end": 65
|
| 239 |
+
},
|
| 240 |
+
"index_l_rot6d": {
|
| 241 |
+
"original_key": "action",
|
| 242 |
+
"start": 65,
|
| 243 |
+
"end": 71
|
| 244 |
+
},
|
| 245 |
+
"middle_l_pos": {
|
| 246 |
+
"original_key": "action",
|
| 247 |
+
"start": 71,
|
| 248 |
+
"end": 74
|
| 249 |
+
},
|
| 250 |
+
"middle_l_rot6d": {
|
| 251 |
+
"original_key": "action",
|
| 252 |
+
"start": 74,
|
| 253 |
+
"end": 80
|
| 254 |
+
},
|
| 255 |
+
"ring_l_pos": {
|
| 256 |
+
"original_key": "action",
|
| 257 |
+
"start": 80,
|
| 258 |
+
"end": 83
|
| 259 |
+
},
|
| 260 |
+
"ring_l_rot6d": {
|
| 261 |
+
"original_key": "action",
|
| 262 |
+
"start": 83,
|
| 263 |
+
"end": 89
|
| 264 |
+
},
|
| 265 |
+
"pinky_l_pos": {
|
| 266 |
+
"original_key": "action",
|
| 267 |
+
"start": 89,
|
| 268 |
+
"end": 92
|
| 269 |
+
},
|
| 270 |
+
"pinky_l_rot6d": {
|
| 271 |
+
"original_key": "action",
|
| 272 |
+
"start": 92,
|
| 273 |
+
"end": 98
|
| 274 |
+
},
|
| 275 |
+
"wrist_r_pos": {
|
| 276 |
+
"original_key": "action",
|
| 277 |
+
"start": 98,
|
| 278 |
+
"end": 101
|
| 279 |
+
},
|
| 280 |
+
"wrist_r_rot6d": {
|
| 281 |
+
"original_key": "action",
|
| 282 |
+
"start": 101,
|
| 283 |
+
"end": 107
|
| 284 |
+
},
|
| 285 |
+
"thumb_r_pos": {
|
| 286 |
+
"original_key": "action",
|
| 287 |
+
"start": 107,
|
| 288 |
+
"end": 110
|
| 289 |
+
},
|
| 290 |
+
"thumb_r_rot6d": {
|
| 291 |
+
"original_key": "action",
|
| 292 |
+
"start": 110,
|
| 293 |
+
"end": 116
|
| 294 |
+
},
|
| 295 |
+
"index_r_pos": {
|
| 296 |
+
"original_key": "action",
|
| 297 |
+
"start": 116,
|
| 298 |
+
"end": 119
|
| 299 |
+
},
|
| 300 |
+
"index_r_rot6d": {
|
| 301 |
+
"original_key": "action",
|
| 302 |
+
"start": 119,
|
| 303 |
+
"end": 125
|
| 304 |
+
},
|
| 305 |
+
"middle_r_pos": {
|
| 306 |
+
"original_key": "action",
|
| 307 |
+
"start": 125,
|
| 308 |
+
"end": 128
|
| 309 |
+
},
|
| 310 |
+
"middle_r_rot6d": {
|
| 311 |
+
"original_key": "action",
|
| 312 |
+
"start": 128,
|
| 313 |
+
"end": 134
|
| 314 |
+
},
|
| 315 |
+
"ring_r_pos": {
|
| 316 |
+
"original_key": "action",
|
| 317 |
+
"start": 134,
|
| 318 |
+
"end": 137
|
| 319 |
+
},
|
| 320 |
+
"ring_r_rot6d": {
|
| 321 |
+
"original_key": "action",
|
| 322 |
+
"start": 137,
|
| 323 |
+
"end": 143
|
| 324 |
+
},
|
| 325 |
+
"pinky_r_pos": {
|
| 326 |
+
"original_key": "action",
|
| 327 |
+
"start": 143,
|
| 328 |
+
"end": 146
|
| 329 |
+
},
|
| 330 |
+
"pinky_r_rot6d": {
|
| 331 |
+
"original_key": "action",
|
| 332 |
+
"start": 146,
|
| 333 |
+
"end": 152
|
| 334 |
+
},
|
| 335 |
+
"camera_egoview_pos": {
|
| 336 |
+
"original_key": "action",
|
| 337 |
+
"start": 152,
|
| 338 |
+
"end": 155
|
| 339 |
+
},
|
| 340 |
+
"camera_egoview_rot6d": {
|
| 341 |
+
"original_key": "action",
|
| 342 |
+
"start": 155,
|
| 343 |
+
"end": 161
|
| 344 |
+
}
|
| 345 |
+
},
|
| 346 |
+
"video": {
|
| 347 |
+
"ego_view": {
|
| 348 |
+
"original_key": "observation.images.ego_view"
|
| 349 |
+
}
|
| 350 |
+
},
|
| 351 |
+
"annotation": {
|
| 352 |
+
"human.fine_action": {
|
| 353 |
+
"original_key": "annotation.human.fine_action"
|
| 354 |
+
},
|
| 355 |
+
"human.coarse_action": {
|
| 356 |
+
"original_key": "annotation.human.coarse_action"
|
| 357 |
+
}
|
| 358 |
+
}
|
| 359 |
+
}
|
metadata/gr1_unified.PosttrainPnPNovelFromPlacematToBowlSplitA/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1,11 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": ""}
|
| 2 |
+
{"task_index": 1, "task": "unlocked_waist: pick the squash from the placemat and place it in the bowl"}
|
| 3 |
+
{"task_index": 2, "task": "unlocked_waist: pick the cupcake from the placemat and place it in the bowl"}
|
| 4 |
+
{"task_index": 3, "task": "unlocked_waist: pick the bell pepper from the placemat and place it in the bowl"}
|
| 5 |
+
{"task_index": 4, "task": "unlocked_waist: pick the tomato from the placemat and place it in the bowl"}
|
| 6 |
+
{"task_index": 5, "task": "unlocked_waist: pick the lemon from the placemat and place it in the bowl"}
|
| 7 |
+
{"task_index": 6, "task": "unlocked_waist: pick the eggplant from the placemat and place it in the bowl"}
|
| 8 |
+
{"task_index": 7, "task": "unlocked_waist: pick the sweet potato from the placemat and place it in the bowl"}
|
| 9 |
+
{"task_index": 8, "task": "unlocked_waist: pick the can from the placemat and place it in the bowl"}
|
| 10 |
+
{"task_index": 9, "task": "unlocked_waist: pick the croissant from the placemat and place it in the bowl"}
|
| 11 |
+
{"task_index": 10, "task": "unlocked_waist: pick the pear from the placemat and place it in the bowl"}
|
metadata/gr1_unified.PosttrainPnPNovelFromPlacematToPlateSplitA/meta/episodes.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
metadata/gr1_unified.PosttrainPnPNovelFromPlacematToPlateSplitA/meta/modality.json
ADDED
|
@@ -0,0 +1,359 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"state": {
|
| 3 |
+
"left_arm": {
|
| 4 |
+
"original_key": "observation.state",
|
| 5 |
+
"start": 0,
|
| 6 |
+
"end": 7
|
| 7 |
+
},
|
| 8 |
+
"left_hand": {
|
| 9 |
+
"original_key": "observation.state",
|
| 10 |
+
"start": 7,
|
| 11 |
+
"end": 13
|
| 12 |
+
},
|
| 13 |
+
"left_leg": {
|
| 14 |
+
"original_key": "observation.state",
|
| 15 |
+
"start": 13,
|
| 16 |
+
"end": 19
|
| 17 |
+
},
|
| 18 |
+
"neck": {
|
| 19 |
+
"original_key": "observation.state",
|
| 20 |
+
"start": 19,
|
| 21 |
+
"end": 22
|
| 22 |
+
},
|
| 23 |
+
"right_arm": {
|
| 24 |
+
"original_key": "observation.state",
|
| 25 |
+
"start": 22,
|
| 26 |
+
"end": 29
|
| 27 |
+
},
|
| 28 |
+
"right_hand": {
|
| 29 |
+
"original_key": "observation.state",
|
| 30 |
+
"start": 29,
|
| 31 |
+
"end": 35
|
| 32 |
+
},
|
| 33 |
+
"right_leg": {
|
| 34 |
+
"original_key": "observation.state",
|
| 35 |
+
"start": 35,
|
| 36 |
+
"end": 41
|
| 37 |
+
},
|
| 38 |
+
"waist": {
|
| 39 |
+
"original_key": "observation.state",
|
| 40 |
+
"start": 41,
|
| 41 |
+
"end": 44
|
| 42 |
+
},
|
| 43 |
+
"wrist_l_pos": {
|
| 44 |
+
"original_key": "observation.state",
|
| 45 |
+
"start": 44,
|
| 46 |
+
"end": 47
|
| 47 |
+
},
|
| 48 |
+
"wrist_l_rot6d": {
|
| 49 |
+
"original_key": "observation.state",
|
| 50 |
+
"start": 47,
|
| 51 |
+
"end": 53
|
| 52 |
+
},
|
| 53 |
+
"thumb_l_pos": {
|
| 54 |
+
"original_key": "observation.state",
|
| 55 |
+
"start": 53,
|
| 56 |
+
"end": 56
|
| 57 |
+
},
|
| 58 |
+
"thumb_l_rot6d": {
|
| 59 |
+
"original_key": "observation.state",
|
| 60 |
+
"start": 56,
|
| 61 |
+
"end": 62
|
| 62 |
+
},
|
| 63 |
+
"index_l_pos": {
|
| 64 |
+
"original_key": "observation.state",
|
| 65 |
+
"start": 62,
|
| 66 |
+
"end": 65
|
| 67 |
+
},
|
| 68 |
+
"index_l_rot6d": {
|
| 69 |
+
"original_key": "observation.state",
|
| 70 |
+
"start": 65,
|
| 71 |
+
"end": 71
|
| 72 |
+
},
|
| 73 |
+
"middle_l_pos": {
|
| 74 |
+
"original_key": "observation.state",
|
| 75 |
+
"start": 71,
|
| 76 |
+
"end": 74
|
| 77 |
+
},
|
| 78 |
+
"middle_l_rot6d": {
|
| 79 |
+
"original_key": "observation.state",
|
| 80 |
+
"start": 74,
|
| 81 |
+
"end": 80
|
| 82 |
+
},
|
| 83 |
+
"ring_l_pos": {
|
| 84 |
+
"original_key": "observation.state",
|
| 85 |
+
"start": 80,
|
| 86 |
+
"end": 83
|
| 87 |
+
},
|
| 88 |
+
"ring_l_rot6d": {
|
| 89 |
+
"original_key": "observation.state",
|
| 90 |
+
"start": 83,
|
| 91 |
+
"end": 89
|
| 92 |
+
},
|
| 93 |
+
"pinky_l_pos": {
|
| 94 |
+
"original_key": "observation.state",
|
| 95 |
+
"start": 89,
|
| 96 |
+
"end": 92
|
| 97 |
+
},
|
| 98 |
+
"pinky_l_rot6d": {
|
| 99 |
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"original_key": "observation.state",
|
| 100 |
+
"start": 92,
|
| 101 |
+
"end": 98
|
| 102 |
+
},
|
| 103 |
+
"wrist_r_pos": {
|
| 104 |
+
"original_key": "observation.state",
|
| 105 |
+
"start": 98,
|
| 106 |
+
"end": 101
|
| 107 |
+
},
|
| 108 |
+
"wrist_r_rot6d": {
|
| 109 |
+
"original_key": "observation.state",
|
| 110 |
+
"start": 101,
|
| 111 |
+
"end": 107
|
| 112 |
+
},
|
| 113 |
+
"thumb_r_pos": {
|
| 114 |
+
"original_key": "observation.state",
|
| 115 |
+
"start": 107,
|
| 116 |
+
"end": 110
|
| 117 |
+
},
|
| 118 |
+
"thumb_r_rot6d": {
|
| 119 |
+
"original_key": "observation.state",
|
| 120 |
+
"start": 110,
|
| 121 |
+
"end": 116
|
| 122 |
+
},
|
| 123 |
+
"index_r_pos": {
|
| 124 |
+
"original_key": "observation.state",
|
| 125 |
+
"start": 116,
|
| 126 |
+
"end": 119
|
| 127 |
+
},
|
| 128 |
+
"index_r_rot6d": {
|
| 129 |
+
"original_key": "observation.state",
|
| 130 |
+
"start": 119,
|
| 131 |
+
"end": 125
|
| 132 |
+
},
|
| 133 |
+
"middle_r_pos": {
|
| 134 |
+
"original_key": "observation.state",
|
| 135 |
+
"start": 125,
|
| 136 |
+
"end": 128
|
| 137 |
+
},
|
| 138 |
+
"middle_r_rot6d": {
|
| 139 |
+
"original_key": "observation.state",
|
| 140 |
+
"start": 128,
|
| 141 |
+
"end": 134
|
| 142 |
+
},
|
| 143 |
+
"ring_r_pos": {
|
| 144 |
+
"original_key": "observation.state",
|
| 145 |
+
"start": 134,
|
| 146 |
+
"end": 137
|
| 147 |
+
},
|
| 148 |
+
"ring_r_rot6d": {
|
| 149 |
+
"original_key": "observation.state",
|
| 150 |
+
"start": 137,
|
| 151 |
+
"end": 143
|
| 152 |
+
},
|
| 153 |
+
"pinky_r_pos": {
|
| 154 |
+
"original_key": "observation.state",
|
| 155 |
+
"start": 143,
|
| 156 |
+
"end": 146
|
| 157 |
+
},
|
| 158 |
+
"pinky_r_rot6d": {
|
| 159 |
+
"original_key": "observation.state",
|
| 160 |
+
"start": 146,
|
| 161 |
+
"end": 152
|
| 162 |
+
},
|
| 163 |
+
"camera_egoview_pos": {
|
| 164 |
+
"original_key": "observation.state",
|
| 165 |
+
"start": 152,
|
| 166 |
+
"end": 155
|
| 167 |
+
},
|
| 168 |
+
"camera_egoview_rot6d": {
|
| 169 |
+
"original_key": "observation.state",
|
| 170 |
+
"start": 155,
|
| 171 |
+
"end": 161
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"action": {
|
| 175 |
+
"left_arm": {
|
| 176 |
+
"original_key": "action",
|
| 177 |
+
"start": 0,
|
| 178 |
+
"end": 7
|
| 179 |
+
},
|
| 180 |
+
"left_hand": {
|
| 181 |
+
"original_key": "action",
|
| 182 |
+
"start": 7,
|
| 183 |
+
"end": 13
|
| 184 |
+
},
|
| 185 |
+
"left_leg": {
|
| 186 |
+
"original_key": "action",
|
| 187 |
+
"start": 13,
|
| 188 |
+
"end": 19
|
| 189 |
+
},
|
| 190 |
+
"neck": {
|
| 191 |
+
"original_key": "action",
|
| 192 |
+
"start": 19,
|
| 193 |
+
"end": 22
|
| 194 |
+
},
|
| 195 |
+
"right_arm": {
|
| 196 |
+
"original_key": "action",
|
| 197 |
+
"start": 22,
|
| 198 |
+
"end": 29
|
| 199 |
+
},
|
| 200 |
+
"right_hand": {
|
| 201 |
+
"original_key": "action",
|
| 202 |
+
"start": 29,
|
| 203 |
+
"end": 35
|
| 204 |
+
},
|
| 205 |
+
"right_leg": {
|
| 206 |
+
"original_key": "action",
|
| 207 |
+
"start": 35,
|
| 208 |
+
"end": 41
|
| 209 |
+
},
|
| 210 |
+
"waist": {
|
| 211 |
+
"original_key": "action",
|
| 212 |
+
"start": 41,
|
| 213 |
+
"end": 44
|
| 214 |
+
},
|
| 215 |
+
"wrist_l_pos": {
|
| 216 |
+
"original_key": "action",
|
| 217 |
+
"start": 44,
|
| 218 |
+
"end": 47
|
| 219 |
+
},
|
| 220 |
+
"wrist_l_rot6d": {
|
| 221 |
+
"original_key": "action",
|
| 222 |
+
"start": 47,
|
| 223 |
+
"end": 53
|
| 224 |
+
},
|
| 225 |
+
"thumb_l_pos": {
|
| 226 |
+
"original_key": "action",
|
| 227 |
+
"start": 53,
|
| 228 |
+
"end": 56
|
| 229 |
+
},
|
| 230 |
+
"thumb_l_rot6d": {
|
| 231 |
+
"original_key": "action",
|
| 232 |
+
"start": 56,
|
| 233 |
+
"end": 62
|
| 234 |
+
},
|
| 235 |
+
"index_l_pos": {
|
| 236 |
+
"original_key": "action",
|
| 237 |
+
"start": 62,
|
| 238 |
+
"end": 65
|
| 239 |
+
},
|
| 240 |
+
"index_l_rot6d": {
|
| 241 |
+
"original_key": "action",
|
| 242 |
+
"start": 65,
|
| 243 |
+
"end": 71
|
| 244 |
+
},
|
| 245 |
+
"middle_l_pos": {
|
| 246 |
+
"original_key": "action",
|
| 247 |
+
"start": 71,
|
| 248 |
+
"end": 74
|
| 249 |
+
},
|
| 250 |
+
"middle_l_rot6d": {
|
| 251 |
+
"original_key": "action",
|
| 252 |
+
"start": 74,
|
| 253 |
+
"end": 80
|
| 254 |
+
},
|
| 255 |
+
"ring_l_pos": {
|
| 256 |
+
"original_key": "action",
|
| 257 |
+
"start": 80,
|
| 258 |
+
"end": 83
|
| 259 |
+
},
|
| 260 |
+
"ring_l_rot6d": {
|
| 261 |
+
"original_key": "action",
|
| 262 |
+
"start": 83,
|
| 263 |
+
"end": 89
|
| 264 |
+
},
|
| 265 |
+
"pinky_l_pos": {
|
| 266 |
+
"original_key": "action",
|
| 267 |
+
"start": 89,
|
| 268 |
+
"end": 92
|
| 269 |
+
},
|
| 270 |
+
"pinky_l_rot6d": {
|
| 271 |
+
"original_key": "action",
|
| 272 |
+
"start": 92,
|
| 273 |
+
"end": 98
|
| 274 |
+
},
|
| 275 |
+
"wrist_r_pos": {
|
| 276 |
+
"original_key": "action",
|
| 277 |
+
"start": 98,
|
| 278 |
+
"end": 101
|
| 279 |
+
},
|
| 280 |
+
"wrist_r_rot6d": {
|
| 281 |
+
"original_key": "action",
|
| 282 |
+
"start": 101,
|
| 283 |
+
"end": 107
|
| 284 |
+
},
|
| 285 |
+
"thumb_r_pos": {
|
| 286 |
+
"original_key": "action",
|
| 287 |
+
"start": 107,
|
| 288 |
+
"end": 110
|
| 289 |
+
},
|
| 290 |
+
"thumb_r_rot6d": {
|
| 291 |
+
"original_key": "action",
|
| 292 |
+
"start": 110,
|
| 293 |
+
"end": 116
|
| 294 |
+
},
|
| 295 |
+
"index_r_pos": {
|
| 296 |
+
"original_key": "action",
|
| 297 |
+
"start": 116,
|
| 298 |
+
"end": 119
|
| 299 |
+
},
|
| 300 |
+
"index_r_rot6d": {
|
| 301 |
+
"original_key": "action",
|
| 302 |
+
"start": 119,
|
| 303 |
+
"end": 125
|
| 304 |
+
},
|
| 305 |
+
"middle_r_pos": {
|
| 306 |
+
"original_key": "action",
|
| 307 |
+
"start": 125,
|
| 308 |
+
"end": 128
|
| 309 |
+
},
|
| 310 |
+
"middle_r_rot6d": {
|
| 311 |
+
"original_key": "action",
|
| 312 |
+
"start": 128,
|
| 313 |
+
"end": 134
|
| 314 |
+
},
|
| 315 |
+
"ring_r_pos": {
|
| 316 |
+
"original_key": "action",
|
| 317 |
+
"start": 134,
|
| 318 |
+
"end": 137
|
| 319 |
+
},
|
| 320 |
+
"ring_r_rot6d": {
|
| 321 |
+
"original_key": "action",
|
| 322 |
+
"start": 137,
|
| 323 |
+
"end": 143
|
| 324 |
+
},
|
| 325 |
+
"pinky_r_pos": {
|
| 326 |
+
"original_key": "action",
|
| 327 |
+
"start": 143,
|
| 328 |
+
"end": 146
|
| 329 |
+
},
|
| 330 |
+
"pinky_r_rot6d": {
|
| 331 |
+
"original_key": "action",
|
| 332 |
+
"start": 146,
|
| 333 |
+
"end": 152
|
| 334 |
+
},
|
| 335 |
+
"camera_egoview_pos": {
|
| 336 |
+
"original_key": "action",
|
| 337 |
+
"start": 152,
|
| 338 |
+
"end": 155
|
| 339 |
+
},
|
| 340 |
+
"camera_egoview_rot6d": {
|
| 341 |
+
"original_key": "action",
|
| 342 |
+
"start": 155,
|
| 343 |
+
"end": 161
|
| 344 |
+
}
|
| 345 |
+
},
|
| 346 |
+
"video": {
|
| 347 |
+
"ego_view": {
|
| 348 |
+
"original_key": "observation.images.ego_view"
|
| 349 |
+
}
|
| 350 |
+
},
|
| 351 |
+
"annotation": {
|
| 352 |
+
"human.fine_action": {
|
| 353 |
+
"original_key": "annotation.human.fine_action"
|
| 354 |
+
},
|
| 355 |
+
"human.coarse_action": {
|
| 356 |
+
"original_key": "annotation.human.coarse_action"
|
| 357 |
+
}
|
| 358 |
+
}
|
| 359 |
+
}
|
metadata/gr1_unified.PosttrainPnPNovelFromPlacematToPlateSplitA/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1,11 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": ""}
|
| 2 |
+
{"task_index": 1, "task": "unlocked_waist: pick the bell pepper from the placemat and place it in the plate"}
|
| 3 |
+
{"task_index": 2, "task": "unlocked_waist: pick the sweet potato from the placemat and place it in the plate"}
|
| 4 |
+
{"task_index": 3, "task": "unlocked_waist: pick the squash from the placemat and place it in the plate"}
|
| 5 |
+
{"task_index": 4, "task": "unlocked_waist: pick the tomato from the placemat and place it in the plate"}
|
| 6 |
+
{"task_index": 5, "task": "unlocked_waist: pick the pear from the placemat and place it in the plate"}
|
| 7 |
+
{"task_index": 6, "task": "unlocked_waist: pick the lemon from the placemat and place it in the plate"}
|
| 8 |
+
{"task_index": 7, "task": "unlocked_waist: pick the cupcake from the placemat and place it in the plate"}
|
| 9 |
+
{"task_index": 8, "task": "unlocked_waist: pick the croissant from the placemat and place it in the plate"}
|
| 10 |
+
{"task_index": 9, "task": "unlocked_waist: pick the can from the placemat and place it in the plate"}
|
| 11 |
+
{"task_index": 10, "task": "unlocked_waist: pick the eggplant from the placemat and place it in the plate"}
|
metadata/gr1_unified.PosttrainPnPNovelFromPlacematToTieredshelfSplitA/meta/episodes.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
metadata/gr1_unified.PosttrainPnPNovelFromPlacematToTieredshelfSplitA/meta/modality.json
ADDED
|
@@ -0,0 +1,359 @@
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"state": {
|
| 3 |
+
"left_arm": {
|
| 4 |
+
"original_key": "observation.state",
|
| 5 |
+
"start": 0,
|
| 6 |
+
"end": 7
|
| 7 |
+
},
|
| 8 |
+
"left_hand": {
|
| 9 |
+
"original_key": "observation.state",
|
| 10 |
+
"start": 7,
|
| 11 |
+
"end": 13
|
| 12 |
+
},
|
| 13 |
+
"left_leg": {
|
| 14 |
+
"original_key": "observation.state",
|
| 15 |
+
"start": 13,
|
| 16 |
+
"end": 19
|
| 17 |
+
},
|
| 18 |
+
"neck": {
|
| 19 |
+
"original_key": "observation.state",
|
| 20 |
+
"start": 19,
|
| 21 |
+
"end": 22
|
| 22 |
+
},
|
| 23 |
+
"right_arm": {
|
| 24 |
+
"original_key": "observation.state",
|
| 25 |
+
"start": 22,
|
| 26 |
+
"end": 29
|
| 27 |
+
},
|
| 28 |
+
"right_hand": {
|
| 29 |
+
"original_key": "observation.state",
|
| 30 |
+
"start": 29,
|
| 31 |
+
"end": 35
|
| 32 |
+
},
|
| 33 |
+
"right_leg": {
|
| 34 |
+
"original_key": "observation.state",
|
| 35 |
+
"start": 35,
|
| 36 |
+
"end": 41
|
| 37 |
+
},
|
| 38 |
+
"waist": {
|
| 39 |
+
"original_key": "observation.state",
|
| 40 |
+
"start": 41,
|
| 41 |
+
"end": 44
|
| 42 |
+
},
|
| 43 |
+
"wrist_l_pos": {
|
| 44 |
+
"original_key": "observation.state",
|
| 45 |
+
"start": 44,
|
| 46 |
+
"end": 47
|
| 47 |
+
},
|
| 48 |
+
"wrist_l_rot6d": {
|
| 49 |
+
"original_key": "observation.state",
|
| 50 |
+
"start": 47,
|
| 51 |
+
"end": 53
|
| 52 |
+
},
|
| 53 |
+
"thumb_l_pos": {
|
| 54 |
+
"original_key": "observation.state",
|
| 55 |
+
"start": 53,
|
| 56 |
+
"end": 56
|
| 57 |
+
},
|
| 58 |
+
"thumb_l_rot6d": {
|
| 59 |
+
"original_key": "observation.state",
|
| 60 |
+
"start": 56,
|
| 61 |
+
"end": 62
|
| 62 |
+
},
|
| 63 |
+
"index_l_pos": {
|
| 64 |
+
"original_key": "observation.state",
|
| 65 |
+
"start": 62,
|
| 66 |
+
"end": 65
|
| 67 |
+
},
|
| 68 |
+
"index_l_rot6d": {
|
| 69 |
+
"original_key": "observation.state",
|
| 70 |
+
"start": 65,
|
| 71 |
+
"end": 71
|
| 72 |
+
},
|
| 73 |
+
"middle_l_pos": {
|
| 74 |
+
"original_key": "observation.state",
|
| 75 |
+
"start": 71,
|
| 76 |
+
"end": 74
|
| 77 |
+
},
|
| 78 |
+
"middle_l_rot6d": {
|
| 79 |
+
"original_key": "observation.state",
|
| 80 |
+
"start": 74,
|
| 81 |
+
"end": 80
|
| 82 |
+
},
|
| 83 |
+
"ring_l_pos": {
|
| 84 |
+
"original_key": "observation.state",
|
| 85 |
+
"start": 80,
|
| 86 |
+
"end": 83
|
| 87 |
+
},
|
| 88 |
+
"ring_l_rot6d": {
|
| 89 |
+
"original_key": "observation.state",
|
| 90 |
+
"start": 83,
|
| 91 |
+
"end": 89
|
| 92 |
+
},
|
| 93 |
+
"pinky_l_pos": {
|
| 94 |
+
"original_key": "observation.state",
|
| 95 |
+
"start": 89,
|
| 96 |
+
"end": 92
|
| 97 |
+
},
|
| 98 |
+
"pinky_l_rot6d": {
|
| 99 |
+
"original_key": "observation.state",
|
| 100 |
+
"start": 92,
|
| 101 |
+
"end": 98
|
| 102 |
+
},
|
| 103 |
+
"wrist_r_pos": {
|
| 104 |
+
"original_key": "observation.state",
|
| 105 |
+
"start": 98,
|
| 106 |
+
"end": 101
|
| 107 |
+
},
|
| 108 |
+
"wrist_r_rot6d": {
|
| 109 |
+
"original_key": "observation.state",
|
| 110 |
+
"start": 101,
|
| 111 |
+
"end": 107
|
| 112 |
+
},
|
| 113 |
+
"thumb_r_pos": {
|
| 114 |
+
"original_key": "observation.state",
|
| 115 |
+
"start": 107,
|
| 116 |
+
"end": 110
|
| 117 |
+
},
|
| 118 |
+
"thumb_r_rot6d": {
|
| 119 |
+
"original_key": "observation.state",
|
| 120 |
+
"start": 110,
|
| 121 |
+
"end": 116
|
| 122 |
+
},
|
| 123 |
+
"index_r_pos": {
|
| 124 |
+
"original_key": "observation.state",
|
| 125 |
+
"start": 116,
|
| 126 |
+
"end": 119
|
| 127 |
+
},
|
| 128 |
+
"index_r_rot6d": {
|
| 129 |
+
"original_key": "observation.state",
|
| 130 |
+
"start": 119,
|
| 131 |
+
"end": 125
|
| 132 |
+
},
|
| 133 |
+
"middle_r_pos": {
|
| 134 |
+
"original_key": "observation.state",
|
| 135 |
+
"start": 125,
|
| 136 |
+
"end": 128
|
| 137 |
+
},
|
| 138 |
+
"middle_r_rot6d": {
|
| 139 |
+
"original_key": "observation.state",
|
| 140 |
+
"start": 128,
|
| 141 |
+
"end": 134
|
| 142 |
+
},
|
| 143 |
+
"ring_r_pos": {
|
| 144 |
+
"original_key": "observation.state",
|
| 145 |
+
"start": 134,
|
| 146 |
+
"end": 137
|
| 147 |
+
},
|
| 148 |
+
"ring_r_rot6d": {
|
| 149 |
+
"original_key": "observation.state",
|
| 150 |
+
"start": 137,
|
| 151 |
+
"end": 143
|
| 152 |
+
},
|
| 153 |
+
"pinky_r_pos": {
|
| 154 |
+
"original_key": "observation.state",
|
| 155 |
+
"start": 143,
|
| 156 |
+
"end": 146
|
| 157 |
+
},
|
| 158 |
+
"pinky_r_rot6d": {
|
| 159 |
+
"original_key": "observation.state",
|
| 160 |
+
"start": 146,
|
| 161 |
+
"end": 152
|
| 162 |
+
},
|
| 163 |
+
"camera_egoview_pos": {
|
| 164 |
+
"original_key": "observation.state",
|
| 165 |
+
"start": 152,
|
| 166 |
+
"end": 155
|
| 167 |
+
},
|
| 168 |
+
"camera_egoview_rot6d": {
|
| 169 |
+
"original_key": "observation.state",
|
| 170 |
+
"start": 155,
|
| 171 |
+
"end": 161
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"action": {
|
| 175 |
+
"left_arm": {
|
| 176 |
+
"original_key": "action",
|
| 177 |
+
"start": 0,
|
| 178 |
+
"end": 7
|
| 179 |
+
},
|
| 180 |
+
"left_hand": {
|
| 181 |
+
"original_key": "action",
|
| 182 |
+
"start": 7,
|
| 183 |
+
"end": 13
|
| 184 |
+
},
|
| 185 |
+
"left_leg": {
|
| 186 |
+
"original_key": "action",
|
| 187 |
+
"start": 13,
|
| 188 |
+
"end": 19
|
| 189 |
+
},
|
| 190 |
+
"neck": {
|
| 191 |
+
"original_key": "action",
|
| 192 |
+
"start": 19,
|
| 193 |
+
"end": 22
|
| 194 |
+
},
|
| 195 |
+
"right_arm": {
|
| 196 |
+
"original_key": "action",
|
| 197 |
+
"start": 22,
|
| 198 |
+
"end": 29
|
| 199 |
+
},
|
| 200 |
+
"right_hand": {
|
| 201 |
+
"original_key": "action",
|
| 202 |
+
"start": 29,
|
| 203 |
+
"end": 35
|
| 204 |
+
},
|
| 205 |
+
"right_leg": {
|
| 206 |
+
"original_key": "action",
|
| 207 |
+
"start": 35,
|
| 208 |
+
"end": 41
|
| 209 |
+
},
|
| 210 |
+
"waist": {
|
| 211 |
+
"original_key": "action",
|
| 212 |
+
"start": 41,
|
| 213 |
+
"end": 44
|
| 214 |
+
},
|
| 215 |
+
"wrist_l_pos": {
|
| 216 |
+
"original_key": "action",
|
| 217 |
+
"start": 44,
|
| 218 |
+
"end": 47
|
| 219 |
+
},
|
| 220 |
+
"wrist_l_rot6d": {
|
| 221 |
+
"original_key": "action",
|
| 222 |
+
"start": 47,
|
| 223 |
+
"end": 53
|
| 224 |
+
},
|
| 225 |
+
"thumb_l_pos": {
|
| 226 |
+
"original_key": "action",
|
| 227 |
+
"start": 53,
|
| 228 |
+
"end": 56
|
| 229 |
+
},
|
| 230 |
+
"thumb_l_rot6d": {
|
| 231 |
+
"original_key": "action",
|
| 232 |
+
"start": 56,
|
| 233 |
+
"end": 62
|
| 234 |
+
},
|
| 235 |
+
"index_l_pos": {
|
| 236 |
+
"original_key": "action",
|
| 237 |
+
"start": 62,
|
| 238 |
+
"end": 65
|
| 239 |
+
},
|
| 240 |
+
"index_l_rot6d": {
|
| 241 |
+
"original_key": "action",
|
| 242 |
+
"start": 65,
|
| 243 |
+
"end": 71
|
| 244 |
+
},
|
| 245 |
+
"middle_l_pos": {
|
| 246 |
+
"original_key": "action",
|
| 247 |
+
"start": 71,
|
| 248 |
+
"end": 74
|
| 249 |
+
},
|
| 250 |
+
"middle_l_rot6d": {
|
| 251 |
+
"original_key": "action",
|
| 252 |
+
"start": 74,
|
| 253 |
+
"end": 80
|
| 254 |
+
},
|
| 255 |
+
"ring_l_pos": {
|
| 256 |
+
"original_key": "action",
|
| 257 |
+
"start": 80,
|
| 258 |
+
"end": 83
|
| 259 |
+
},
|
| 260 |
+
"ring_l_rot6d": {
|
| 261 |
+
"original_key": "action",
|
| 262 |
+
"start": 83,
|
| 263 |
+
"end": 89
|
| 264 |
+
},
|
| 265 |
+
"pinky_l_pos": {
|
| 266 |
+
"original_key": "action",
|
| 267 |
+
"start": 89,
|
| 268 |
+
"end": 92
|
| 269 |
+
},
|
| 270 |
+
"pinky_l_rot6d": {
|
| 271 |
+
"original_key": "action",
|
| 272 |
+
"start": 92,
|
| 273 |
+
"end": 98
|
| 274 |
+
},
|
| 275 |
+
"wrist_r_pos": {
|
| 276 |
+
"original_key": "action",
|
| 277 |
+
"start": 98,
|
| 278 |
+
"end": 101
|
| 279 |
+
},
|
| 280 |
+
"wrist_r_rot6d": {
|
| 281 |
+
"original_key": "action",
|
| 282 |
+
"start": 101,
|
| 283 |
+
"end": 107
|
| 284 |
+
},
|
| 285 |
+
"thumb_r_pos": {
|
| 286 |
+
"original_key": "action",
|
| 287 |
+
"start": 107,
|
| 288 |
+
"end": 110
|
| 289 |
+
},
|
| 290 |
+
"thumb_r_rot6d": {
|
| 291 |
+
"original_key": "action",
|
| 292 |
+
"start": 110,
|
| 293 |
+
"end": 116
|
| 294 |
+
},
|
| 295 |
+
"index_r_pos": {
|
| 296 |
+
"original_key": "action",
|
| 297 |
+
"start": 116,
|
| 298 |
+
"end": 119
|
| 299 |
+
},
|
| 300 |
+
"index_r_rot6d": {
|
| 301 |
+
"original_key": "action",
|
| 302 |
+
"start": 119,
|
| 303 |
+
"end": 125
|
| 304 |
+
},
|
| 305 |
+
"middle_r_pos": {
|
| 306 |
+
"original_key": "action",
|
| 307 |
+
"start": 125,
|
| 308 |
+
"end": 128
|
| 309 |
+
},
|
| 310 |
+
"middle_r_rot6d": {
|
| 311 |
+
"original_key": "action",
|
| 312 |
+
"start": 128,
|
| 313 |
+
"end": 134
|
| 314 |
+
},
|
| 315 |
+
"ring_r_pos": {
|
| 316 |
+
"original_key": "action",
|
| 317 |
+
"start": 134,
|
| 318 |
+
"end": 137
|
| 319 |
+
},
|
| 320 |
+
"ring_r_rot6d": {
|
| 321 |
+
"original_key": "action",
|
| 322 |
+
"start": 137,
|
| 323 |
+
"end": 143
|
| 324 |
+
},
|
| 325 |
+
"pinky_r_pos": {
|
| 326 |
+
"original_key": "action",
|
| 327 |
+
"start": 143,
|
| 328 |
+
"end": 146
|
| 329 |
+
},
|
| 330 |
+
"pinky_r_rot6d": {
|
| 331 |
+
"original_key": "action",
|
| 332 |
+
"start": 146,
|
| 333 |
+
"end": 152
|
| 334 |
+
},
|
| 335 |
+
"camera_egoview_pos": {
|
| 336 |
+
"original_key": "action",
|
| 337 |
+
"start": 152,
|
| 338 |
+
"end": 155
|
| 339 |
+
},
|
| 340 |
+
"camera_egoview_rot6d": {
|
| 341 |
+
"original_key": "action",
|
| 342 |
+
"start": 155,
|
| 343 |
+
"end": 161
|
| 344 |
+
}
|
| 345 |
+
},
|
| 346 |
+
"video": {
|
| 347 |
+
"ego_view": {
|
| 348 |
+
"original_key": "observation.images.ego_view"
|
| 349 |
+
}
|
| 350 |
+
},
|
| 351 |
+
"annotation": {
|
| 352 |
+
"human.fine_action": {
|
| 353 |
+
"original_key": "annotation.human.fine_action"
|
| 354 |
+
},
|
| 355 |
+
"human.coarse_action": {
|
| 356 |
+
"original_key": "annotation.human.coarse_action"
|
| 357 |
+
}
|
| 358 |
+
}
|
| 359 |
+
}
|
metadata/gr1_unified.PosttrainPnPNovelFromPlacematToTieredshelfSplitA/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1,11 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": ""}
|
| 2 |
+
{"task_index": 1, "task": "unlocked_waist: pick the tomato from the placemat and place it in the tiered shelf"}
|
| 3 |
+
{"task_index": 2, "task": "unlocked_waist: pick the lemon from the placemat and place it in the tiered shelf"}
|
| 4 |
+
{"task_index": 3, "task": "unlocked_waist: pick the bell pepper from the placemat and place it in the tiered shelf"}
|
| 5 |
+
{"task_index": 4, "task": "unlocked_waist: pick the squash from the placemat and place it in the tiered shelf"}
|
| 6 |
+
{"task_index": 5, "task": "unlocked_waist: pick the croissant from the placemat and place it in the tiered shelf"}
|
| 7 |
+
{"task_index": 6, "task": "unlocked_waist: pick the sweet potato from the placemat and place it in the tiered shelf"}
|
| 8 |
+
{"task_index": 7, "task": "unlocked_waist: pick the pear from the placemat and place it in the tiered shelf"}
|
| 9 |
+
{"task_index": 8, "task": "unlocked_waist: pick the cupcake from the placemat and place it in the tiered shelf"}
|
| 10 |
+
{"task_index": 9, "task": "unlocked_waist: pick the eggplant from the placemat and place it in the tiered shelf"}
|
| 11 |
+
{"task_index": 10, "task": "unlocked_waist: pick the can from the placemat and place it in the tiered shelf"}
|
metadata/gr1_unified.PosttrainPnPNovelFromPlateToBowlSplitA/meta/episodes.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
metadata/gr1_unified.PosttrainPnPNovelFromPlateToBowlSplitA/meta/modality.json
ADDED
|
@@ -0,0 +1,359 @@
|
|
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|
| 1 |
+
{
|
| 2 |
+
"state": {
|
| 3 |
+
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|
| 4 |
+
"original_key": "observation.state",
|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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"end": 13
|
| 12 |
+
},
|
| 13 |
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"left_leg": {
|
| 14 |
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"original_key": "observation.state",
|
| 15 |
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"start": 13,
|
| 16 |
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|
| 17 |
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},
|
| 18 |
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"neck": {
|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
+
},
|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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},
|
| 28 |
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"right_hand": {
|
| 29 |
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"original_key": "observation.state",
|
| 30 |
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"start": 29,
|
| 31 |
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"end": 35
|
| 32 |
+
},
|
| 33 |
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"right_leg": {
|
| 34 |
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"original_key": "observation.state",
|
| 35 |
+
"start": 35,
|
| 36 |
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"end": 41
|
| 37 |
+
},
|
| 38 |
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"waist": {
|
| 39 |
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"original_key": "observation.state",
|
| 40 |
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"start": 41,
|
| 41 |
+
"end": 44
|
| 42 |
+
},
|
| 43 |
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|
| 44 |
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"original_key": "observation.state",
|
| 45 |
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|
| 46 |
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"end": 47
|
| 47 |
+
},
|
| 48 |
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"wrist_l_rot6d": {
|
| 49 |
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"original_key": "observation.state",
|
| 50 |
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"start": 47,
|
| 51 |
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"end": 53
|
| 52 |
+
},
|
| 53 |
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"thumb_l_pos": {
|
| 54 |
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"original_key": "observation.state",
|
| 55 |
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"start": 53,
|
| 56 |
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"end": 56
|
| 57 |
+
},
|
| 58 |
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"thumb_l_rot6d": {
|
| 59 |
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"original_key": "observation.state",
|
| 60 |
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|
| 61 |
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"end": 62
|
| 62 |
+
},
|
| 63 |
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"index_l_pos": {
|
| 64 |
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|
| 65 |
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|
| 66 |
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"end": 65
|
| 67 |
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},
|
| 68 |
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"index_l_rot6d": {
|
| 69 |
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"original_key": "observation.state",
|
| 70 |
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|
| 71 |
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"end": 71
|
| 72 |
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},
|
| 73 |
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"middle_l_pos": {
|
| 74 |
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"original_key": "observation.state",
|
| 75 |
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|
| 76 |
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|
| 77 |
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},
|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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},
|
| 83 |
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"ring_l_pos": {
|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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},
|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
+
},
|
| 93 |
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"pinky_l_pos": {
|
| 94 |
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"original_key": "observation.state",
|
| 95 |
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|
| 96 |
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"end": 92
|
| 97 |
+
},
|
| 98 |
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"pinky_l_rot6d": {
|
| 99 |
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"original_key": "observation.state",
|
| 100 |
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|
| 101 |
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"end": 98
|
| 102 |
+
},
|
| 103 |
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"wrist_r_pos": {
|
| 104 |
+
"original_key": "observation.state",
|
| 105 |
+
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|
| 106 |
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"end": 101
|
| 107 |
+
},
|
| 108 |
+
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|
| 109 |
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"original_key": "observation.state",
|
| 110 |
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|
| 111 |
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"end": 107
|
| 112 |
+
},
|
| 113 |
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"thumb_r_pos": {
|
| 114 |
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"original_key": "observation.state",
|
| 115 |
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|
| 116 |
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"end": 110
|
| 117 |
+
},
|
| 118 |
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"thumb_r_rot6d": {
|
| 119 |
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"original_key": "observation.state",
|
| 120 |
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|
| 121 |
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"end": 116
|
| 122 |
+
},
|
| 123 |
+
"index_r_pos": {
|
| 124 |
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"original_key": "observation.state",
|
| 125 |
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|
| 126 |
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|
| 127 |
+
},
|
| 128 |
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"index_r_rot6d": {
|
| 129 |
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"original_key": "observation.state",
|
| 130 |
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|
| 131 |
+
"end": 125
|
| 132 |
+
},
|
| 133 |
+
"middle_r_pos": {
|
| 134 |
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"original_key": "observation.state",
|
| 135 |
+
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|
| 136 |
+
"end": 128
|
| 137 |
+
},
|
| 138 |
+
"middle_r_rot6d": {
|
| 139 |
+
"original_key": "observation.state",
|
| 140 |
+
"start": 128,
|
| 141 |
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"end": 134
|
| 142 |
+
},
|
| 143 |
+
"ring_r_pos": {
|
| 144 |
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"original_key": "observation.state",
|
| 145 |
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"start": 134,
|
| 146 |
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"end": 137
|
| 147 |
+
},
|
| 148 |
+
"ring_r_rot6d": {
|
| 149 |
+
"original_key": "observation.state",
|
| 150 |
+
"start": 137,
|
| 151 |
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"end": 143
|
| 152 |
+
},
|
| 153 |
+
"pinky_r_pos": {
|
| 154 |
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"original_key": "observation.state",
|
| 155 |
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"start": 143,
|
| 156 |
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"end": 146
|
| 157 |
+
},
|
| 158 |
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"pinky_r_rot6d": {
|
| 159 |
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"original_key": "observation.state",
|
| 160 |
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"start": 146,
|
| 161 |
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"end": 152
|
| 162 |
+
},
|
| 163 |
+
"camera_egoview_pos": {
|
| 164 |
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"original_key": "observation.state",
|
| 165 |
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"start": 152,
|
| 166 |
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"end": 155
|
| 167 |
+
},
|
| 168 |
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"camera_egoview_rot6d": {
|
| 169 |
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"original_key": "observation.state",
|
| 170 |
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|
| 171 |
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"end": 161
|
| 172 |
+
}
|
| 173 |
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},
|
| 174 |
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"action": {
|
| 175 |
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"left_arm": {
|
| 176 |
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"original_key": "action",
|
| 177 |
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"start": 0,
|
| 178 |
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"end": 7
|
| 179 |
+
},
|
| 180 |
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"left_hand": {
|
| 181 |
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"original_key": "action",
|
| 182 |
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"start": 7,
|
| 183 |
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"end": 13
|
| 184 |
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},
|
| 185 |
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"left_leg": {
|
| 186 |
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"original_key": "action",
|
| 187 |
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"start": 13,
|
| 188 |
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"end": 19
|
| 189 |
+
},
|
| 190 |
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"neck": {
|
| 191 |
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"original_key": "action",
|
| 192 |
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"start": 19,
|
| 193 |
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"end": 22
|
| 194 |
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},
|
| 195 |
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"right_arm": {
|
| 196 |
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"original_key": "action",
|
| 197 |
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|
| 198 |
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"end": 29
|
| 199 |
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},
|
| 200 |
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"right_hand": {
|
| 201 |
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"original_key": "action",
|
| 202 |
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|
| 203 |
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"end": 35
|
| 204 |
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},
|
| 205 |
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"right_leg": {
|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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},
|
| 210 |
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"waist": {
|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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},
|
| 215 |
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"wrist_l_pos": {
|
| 216 |
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|
| 217 |
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|
| 218 |
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|
| 219 |
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},
|
| 220 |
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"wrist_l_rot6d": {
|
| 221 |
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"original_key": "action",
|
| 222 |
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|
| 223 |
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|
| 224 |
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},
|
| 225 |
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"thumb_l_pos": {
|
| 226 |
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"original_key": "action",
|
| 227 |
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|
| 228 |
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|
| 229 |
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},
|
| 230 |
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"thumb_l_rot6d": {
|
| 231 |
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|
| 232 |
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|
| 233 |
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|
| 234 |
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},
|
| 235 |
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"index_l_pos": {
|
| 236 |
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|
| 237 |
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|
| 238 |
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|
| 239 |
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},
|
| 240 |
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"index_l_rot6d": {
|
| 241 |
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"original_key": "action",
|
| 242 |
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|
| 243 |
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|
| 244 |
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},
|
| 245 |
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"middle_l_pos": {
|
| 246 |
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"original_key": "action",
|
| 247 |
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|
| 248 |
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|
| 249 |
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},
|
| 250 |
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"middle_l_rot6d": {
|
| 251 |
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|
| 252 |
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|
| 253 |
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|
| 254 |
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|
| 255 |
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"ring_l_pos": {
|
| 256 |
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|
| 257 |
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|
| 258 |
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|
| 259 |
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|
| 260 |
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|
| 261 |
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|
| 262 |
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|
| 263 |
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|
| 264 |
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|
| 265 |
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|
| 266 |
+
"original_key": "action",
|
| 267 |
+
"start": 89,
|
| 268 |
+
"end": 92
|
| 269 |
+
},
|
| 270 |
+
"pinky_l_rot6d": {
|
| 271 |
+
"original_key": "action",
|
| 272 |
+
"start": 92,
|
| 273 |
+
"end": 98
|
| 274 |
+
},
|
| 275 |
+
"wrist_r_pos": {
|
| 276 |
+
"original_key": "action",
|
| 277 |
+
"start": 98,
|
| 278 |
+
"end": 101
|
| 279 |
+
},
|
| 280 |
+
"wrist_r_rot6d": {
|
| 281 |
+
"original_key": "action",
|
| 282 |
+
"start": 101,
|
| 283 |
+
"end": 107
|
| 284 |
+
},
|
| 285 |
+
"thumb_r_pos": {
|
| 286 |
+
"original_key": "action",
|
| 287 |
+
"start": 107,
|
| 288 |
+
"end": 110
|
| 289 |
+
},
|
| 290 |
+
"thumb_r_rot6d": {
|
| 291 |
+
"original_key": "action",
|
| 292 |
+
"start": 110,
|
| 293 |
+
"end": 116
|
| 294 |
+
},
|
| 295 |
+
"index_r_pos": {
|
| 296 |
+
"original_key": "action",
|
| 297 |
+
"start": 116,
|
| 298 |
+
"end": 119
|
| 299 |
+
},
|
| 300 |
+
"index_r_rot6d": {
|
| 301 |
+
"original_key": "action",
|
| 302 |
+
"start": 119,
|
| 303 |
+
"end": 125
|
| 304 |
+
},
|
| 305 |
+
"middle_r_pos": {
|
| 306 |
+
"original_key": "action",
|
| 307 |
+
"start": 125,
|
| 308 |
+
"end": 128
|
| 309 |
+
},
|
| 310 |
+
"middle_r_rot6d": {
|
| 311 |
+
"original_key": "action",
|
| 312 |
+
"start": 128,
|
| 313 |
+
"end": 134
|
| 314 |
+
},
|
| 315 |
+
"ring_r_pos": {
|
| 316 |
+
"original_key": "action",
|
| 317 |
+
"start": 134,
|
| 318 |
+
"end": 137
|
| 319 |
+
},
|
| 320 |
+
"ring_r_rot6d": {
|
| 321 |
+
"original_key": "action",
|
| 322 |
+
"start": 137,
|
| 323 |
+
"end": 143
|
| 324 |
+
},
|
| 325 |
+
"pinky_r_pos": {
|
| 326 |
+
"original_key": "action",
|
| 327 |
+
"start": 143,
|
| 328 |
+
"end": 146
|
| 329 |
+
},
|
| 330 |
+
"pinky_r_rot6d": {
|
| 331 |
+
"original_key": "action",
|
| 332 |
+
"start": 146,
|
| 333 |
+
"end": 152
|
| 334 |
+
},
|
| 335 |
+
"camera_egoview_pos": {
|
| 336 |
+
"original_key": "action",
|
| 337 |
+
"start": 152,
|
| 338 |
+
"end": 155
|
| 339 |
+
},
|
| 340 |
+
"camera_egoview_rot6d": {
|
| 341 |
+
"original_key": "action",
|
| 342 |
+
"start": 155,
|
| 343 |
+
"end": 161
|
| 344 |
+
}
|
| 345 |
+
},
|
| 346 |
+
"video": {
|
| 347 |
+
"ego_view": {
|
| 348 |
+
"original_key": "observation.images.ego_view"
|
| 349 |
+
}
|
| 350 |
+
},
|
| 351 |
+
"annotation": {
|
| 352 |
+
"human.fine_action": {
|
| 353 |
+
"original_key": "annotation.human.fine_action"
|
| 354 |
+
},
|
| 355 |
+
"human.coarse_action": {
|
| 356 |
+
"original_key": "annotation.human.coarse_action"
|
| 357 |
+
}
|
| 358 |
+
}
|
| 359 |
+
}
|
metadata/gr1_unified.PosttrainPnPNovelFromPlateToBowlSplitA/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1,11 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": ""}
|
| 2 |
+
{"task_index": 1, "task": "unlocked_waist: pick the sweet potato from the plate and place it in the bowl"}
|
| 3 |
+
{"task_index": 2, "task": "unlocked_waist: pick the pear from the plate and place it in the bowl"}
|
| 4 |
+
{"task_index": 3, "task": "unlocked_waist: pick the cupcake from the plate and place it in the bowl"}
|
| 5 |
+
{"task_index": 4, "task": "unlocked_waist: pick the tomato from the plate and place it in the bowl"}
|
| 6 |
+
{"task_index": 5, "task": "unlocked_waist: pick the eggplant from the plate and place it in the bowl"}
|
| 7 |
+
{"task_index": 6, "task": "unlocked_waist: pick the lemon from the plate and place it in the bowl"}
|
| 8 |
+
{"task_index": 7, "task": "unlocked_waist: pick the squash from the plate and place it in the bowl"}
|
| 9 |
+
{"task_index": 8, "task": "unlocked_waist: pick the bell pepper from the plate and place it in the bowl"}
|
| 10 |
+
{"task_index": 9, "task": "unlocked_waist: pick the croissant from the plate and place it in the bowl"}
|
| 11 |
+
{"task_index": 10, "task": "unlocked_waist: pick the can from the plate and place it in the bowl"}
|
metadata/gr1_unified.PosttrainPnPNovelFromPlateToCardboardboxSplitA/meta/episodes.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
metadata/gr1_unified.PosttrainPnPNovelFromPlateToCardboardboxSplitA/meta/modality.json
ADDED
|
@@ -0,0 +1,359 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
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|
|
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|
|
|
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|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"state": {
|
| 3 |
+
"left_arm": {
|
| 4 |
+
"original_key": "observation.state",
|
| 5 |
+
"start": 0,
|
| 6 |
+
"end": 7
|
| 7 |
+
},
|
| 8 |
+
"left_hand": {
|
| 9 |
+
"original_key": "observation.state",
|
| 10 |
+
"start": 7,
|
| 11 |
+
"end": 13
|
| 12 |
+
},
|
| 13 |
+
"left_leg": {
|
| 14 |
+
"original_key": "observation.state",
|
| 15 |
+
"start": 13,
|
| 16 |
+
"end": 19
|
| 17 |
+
},
|
| 18 |
+
"neck": {
|
| 19 |
+
"original_key": "observation.state",
|
| 20 |
+
"start": 19,
|
| 21 |
+
"end": 22
|
| 22 |
+
},
|
| 23 |
+
"right_arm": {
|
| 24 |
+
"original_key": "observation.state",
|
| 25 |
+
"start": 22,
|
| 26 |
+
"end": 29
|
| 27 |
+
},
|
| 28 |
+
"right_hand": {
|
| 29 |
+
"original_key": "observation.state",
|
| 30 |
+
"start": 29,
|
| 31 |
+
"end": 35
|
| 32 |
+
},
|
| 33 |
+
"right_leg": {
|
| 34 |
+
"original_key": "observation.state",
|
| 35 |
+
"start": 35,
|
| 36 |
+
"end": 41
|
| 37 |
+
},
|
| 38 |
+
"waist": {
|
| 39 |
+
"original_key": "observation.state",
|
| 40 |
+
"start": 41,
|
| 41 |
+
"end": 44
|
| 42 |
+
},
|
| 43 |
+
"wrist_l_pos": {
|
| 44 |
+
"original_key": "observation.state",
|
| 45 |
+
"start": 44,
|
| 46 |
+
"end": 47
|
| 47 |
+
},
|
| 48 |
+
"wrist_l_rot6d": {
|
| 49 |
+
"original_key": "observation.state",
|
| 50 |
+
"start": 47,
|
| 51 |
+
"end": 53
|
| 52 |
+
},
|
| 53 |
+
"thumb_l_pos": {
|
| 54 |
+
"original_key": "observation.state",
|
| 55 |
+
"start": 53,
|
| 56 |
+
"end": 56
|
| 57 |
+
},
|
| 58 |
+
"thumb_l_rot6d": {
|
| 59 |
+
"original_key": "observation.state",
|
| 60 |
+
"start": 56,
|
| 61 |
+
"end": 62
|
| 62 |
+
},
|
| 63 |
+
"index_l_pos": {
|
| 64 |
+
"original_key": "observation.state",
|
| 65 |
+
"start": 62,
|
| 66 |
+
"end": 65
|
| 67 |
+
},
|
| 68 |
+
"index_l_rot6d": {
|
| 69 |
+
"original_key": "observation.state",
|
| 70 |
+
"start": 65,
|
| 71 |
+
"end": 71
|
| 72 |
+
},
|
| 73 |
+
"middle_l_pos": {
|
| 74 |
+
"original_key": "observation.state",
|
| 75 |
+
"start": 71,
|
| 76 |
+
"end": 74
|
| 77 |
+
},
|
| 78 |
+
"middle_l_rot6d": {
|
| 79 |
+
"original_key": "observation.state",
|
| 80 |
+
"start": 74,
|
| 81 |
+
"end": 80
|
| 82 |
+
},
|
| 83 |
+
"ring_l_pos": {
|
| 84 |
+
"original_key": "observation.state",
|
| 85 |
+
"start": 80,
|
| 86 |
+
"end": 83
|
| 87 |
+
},
|
| 88 |
+
"ring_l_rot6d": {
|
| 89 |
+
"original_key": "observation.state",
|
| 90 |
+
"start": 83,
|
| 91 |
+
"end": 89
|
| 92 |
+
},
|
| 93 |
+
"pinky_l_pos": {
|
| 94 |
+
"original_key": "observation.state",
|
| 95 |
+
"start": 89,
|
| 96 |
+
"end": 92
|
| 97 |
+
},
|
| 98 |
+
"pinky_l_rot6d": {
|
| 99 |
+
"original_key": "observation.state",
|
| 100 |
+
"start": 92,
|
| 101 |
+
"end": 98
|
| 102 |
+
},
|
| 103 |
+
"wrist_r_pos": {
|
| 104 |
+
"original_key": "observation.state",
|
| 105 |
+
"start": 98,
|
| 106 |
+
"end": 101
|
| 107 |
+
},
|
| 108 |
+
"wrist_r_rot6d": {
|
| 109 |
+
"original_key": "observation.state",
|
| 110 |
+
"start": 101,
|
| 111 |
+
"end": 107
|
| 112 |
+
},
|
| 113 |
+
"thumb_r_pos": {
|
| 114 |
+
"original_key": "observation.state",
|
| 115 |
+
"start": 107,
|
| 116 |
+
"end": 110
|
| 117 |
+
},
|
| 118 |
+
"thumb_r_rot6d": {
|
| 119 |
+
"original_key": "observation.state",
|
| 120 |
+
"start": 110,
|
| 121 |
+
"end": 116
|
| 122 |
+
},
|
| 123 |
+
"index_r_pos": {
|
| 124 |
+
"original_key": "observation.state",
|
| 125 |
+
"start": 116,
|
| 126 |
+
"end": 119
|
| 127 |
+
},
|
| 128 |
+
"index_r_rot6d": {
|
| 129 |
+
"original_key": "observation.state",
|
| 130 |
+
"start": 119,
|
| 131 |
+
"end": 125
|
| 132 |
+
},
|
| 133 |
+
"middle_r_pos": {
|
| 134 |
+
"original_key": "observation.state",
|
| 135 |
+
"start": 125,
|
| 136 |
+
"end": 128
|
| 137 |
+
},
|
| 138 |
+
"middle_r_rot6d": {
|
| 139 |
+
"original_key": "observation.state",
|
| 140 |
+
"start": 128,
|
| 141 |
+
"end": 134
|
| 142 |
+
},
|
| 143 |
+
"ring_r_pos": {
|
| 144 |
+
"original_key": "observation.state",
|
| 145 |
+
"start": 134,
|
| 146 |
+
"end": 137
|
| 147 |
+
},
|
| 148 |
+
"ring_r_rot6d": {
|
| 149 |
+
"original_key": "observation.state",
|
| 150 |
+
"start": 137,
|
| 151 |
+
"end": 143
|
| 152 |
+
},
|
| 153 |
+
"pinky_r_pos": {
|
| 154 |
+
"original_key": "observation.state",
|
| 155 |
+
"start": 143,
|
| 156 |
+
"end": 146
|
| 157 |
+
},
|
| 158 |
+
"pinky_r_rot6d": {
|
| 159 |
+
"original_key": "observation.state",
|
| 160 |
+
"start": 146,
|
| 161 |
+
"end": 152
|
| 162 |
+
},
|
| 163 |
+
"camera_egoview_pos": {
|
| 164 |
+
"original_key": "observation.state",
|
| 165 |
+
"start": 152,
|
| 166 |
+
"end": 155
|
| 167 |
+
},
|
| 168 |
+
"camera_egoview_rot6d": {
|
| 169 |
+
"original_key": "observation.state",
|
| 170 |
+
"start": 155,
|
| 171 |
+
"end": 161
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"action": {
|
| 175 |
+
"left_arm": {
|
| 176 |
+
"original_key": "action",
|
| 177 |
+
"start": 0,
|
| 178 |
+
"end": 7
|
| 179 |
+
},
|
| 180 |
+
"left_hand": {
|
| 181 |
+
"original_key": "action",
|
| 182 |
+
"start": 7,
|
| 183 |
+
"end": 13
|
| 184 |
+
},
|
| 185 |
+
"left_leg": {
|
| 186 |
+
"original_key": "action",
|
| 187 |
+
"start": 13,
|
| 188 |
+
"end": 19
|
| 189 |
+
},
|
| 190 |
+
"neck": {
|
| 191 |
+
"original_key": "action",
|
| 192 |
+
"start": 19,
|
| 193 |
+
"end": 22
|
| 194 |
+
},
|
| 195 |
+
"right_arm": {
|
| 196 |
+
"original_key": "action",
|
| 197 |
+
"start": 22,
|
| 198 |
+
"end": 29
|
| 199 |
+
},
|
| 200 |
+
"right_hand": {
|
| 201 |
+
"original_key": "action",
|
| 202 |
+
"start": 29,
|
| 203 |
+
"end": 35
|
| 204 |
+
},
|
| 205 |
+
"right_leg": {
|
| 206 |
+
"original_key": "action",
|
| 207 |
+
"start": 35,
|
| 208 |
+
"end": 41
|
| 209 |
+
},
|
| 210 |
+
"waist": {
|
| 211 |
+
"original_key": "action",
|
| 212 |
+
"start": 41,
|
| 213 |
+
"end": 44
|
| 214 |
+
},
|
| 215 |
+
"wrist_l_pos": {
|
| 216 |
+
"original_key": "action",
|
| 217 |
+
"start": 44,
|
| 218 |
+
"end": 47
|
| 219 |
+
},
|
| 220 |
+
"wrist_l_rot6d": {
|
| 221 |
+
"original_key": "action",
|
| 222 |
+
"start": 47,
|
| 223 |
+
"end": 53
|
| 224 |
+
},
|
| 225 |
+
"thumb_l_pos": {
|
| 226 |
+
"original_key": "action",
|
| 227 |
+
"start": 53,
|
| 228 |
+
"end": 56
|
| 229 |
+
},
|
| 230 |
+
"thumb_l_rot6d": {
|
| 231 |
+
"original_key": "action",
|
| 232 |
+
"start": 56,
|
| 233 |
+
"end": 62
|
| 234 |
+
},
|
| 235 |
+
"index_l_pos": {
|
| 236 |
+
"original_key": "action",
|
| 237 |
+
"start": 62,
|
| 238 |
+
"end": 65
|
| 239 |
+
},
|
| 240 |
+
"index_l_rot6d": {
|
| 241 |
+
"original_key": "action",
|
| 242 |
+
"start": 65,
|
| 243 |
+
"end": 71
|
| 244 |
+
},
|
| 245 |
+
"middle_l_pos": {
|
| 246 |
+
"original_key": "action",
|
| 247 |
+
"start": 71,
|
| 248 |
+
"end": 74
|
| 249 |
+
},
|
| 250 |
+
"middle_l_rot6d": {
|
| 251 |
+
"original_key": "action",
|
| 252 |
+
"start": 74,
|
| 253 |
+
"end": 80
|
| 254 |
+
},
|
| 255 |
+
"ring_l_pos": {
|
| 256 |
+
"original_key": "action",
|
| 257 |
+
"start": 80,
|
| 258 |
+
"end": 83
|
| 259 |
+
},
|
| 260 |
+
"ring_l_rot6d": {
|
| 261 |
+
"original_key": "action",
|
| 262 |
+
"start": 83,
|
| 263 |
+
"end": 89
|
| 264 |
+
},
|
| 265 |
+
"pinky_l_pos": {
|
| 266 |
+
"original_key": "action",
|
| 267 |
+
"start": 89,
|
| 268 |
+
"end": 92
|
| 269 |
+
},
|
| 270 |
+
"pinky_l_rot6d": {
|
| 271 |
+
"original_key": "action",
|
| 272 |
+
"start": 92,
|
| 273 |
+
"end": 98
|
| 274 |
+
},
|
| 275 |
+
"wrist_r_pos": {
|
| 276 |
+
"original_key": "action",
|
| 277 |
+
"start": 98,
|
| 278 |
+
"end": 101
|
| 279 |
+
},
|
| 280 |
+
"wrist_r_rot6d": {
|
| 281 |
+
"original_key": "action",
|
| 282 |
+
"start": 101,
|
| 283 |
+
"end": 107
|
| 284 |
+
},
|
| 285 |
+
"thumb_r_pos": {
|
| 286 |
+
"original_key": "action",
|
| 287 |
+
"start": 107,
|
| 288 |
+
"end": 110
|
| 289 |
+
},
|
| 290 |
+
"thumb_r_rot6d": {
|
| 291 |
+
"original_key": "action",
|
| 292 |
+
"start": 110,
|
| 293 |
+
"end": 116
|
| 294 |
+
},
|
| 295 |
+
"index_r_pos": {
|
| 296 |
+
"original_key": "action",
|
| 297 |
+
"start": 116,
|
| 298 |
+
"end": 119
|
| 299 |
+
},
|
| 300 |
+
"index_r_rot6d": {
|
| 301 |
+
"original_key": "action",
|
| 302 |
+
"start": 119,
|
| 303 |
+
"end": 125
|
| 304 |
+
},
|
| 305 |
+
"middle_r_pos": {
|
| 306 |
+
"original_key": "action",
|
| 307 |
+
"start": 125,
|
| 308 |
+
"end": 128
|
| 309 |
+
},
|
| 310 |
+
"middle_r_rot6d": {
|
| 311 |
+
"original_key": "action",
|
| 312 |
+
"start": 128,
|
| 313 |
+
"end": 134
|
| 314 |
+
},
|
| 315 |
+
"ring_r_pos": {
|
| 316 |
+
"original_key": "action",
|
| 317 |
+
"start": 134,
|
| 318 |
+
"end": 137
|
| 319 |
+
},
|
| 320 |
+
"ring_r_rot6d": {
|
| 321 |
+
"original_key": "action",
|
| 322 |
+
"start": 137,
|
| 323 |
+
"end": 143
|
| 324 |
+
},
|
| 325 |
+
"pinky_r_pos": {
|
| 326 |
+
"original_key": "action",
|
| 327 |
+
"start": 143,
|
| 328 |
+
"end": 146
|
| 329 |
+
},
|
| 330 |
+
"pinky_r_rot6d": {
|
| 331 |
+
"original_key": "action",
|
| 332 |
+
"start": 146,
|
| 333 |
+
"end": 152
|
| 334 |
+
},
|
| 335 |
+
"camera_egoview_pos": {
|
| 336 |
+
"original_key": "action",
|
| 337 |
+
"start": 152,
|
| 338 |
+
"end": 155
|
| 339 |
+
},
|
| 340 |
+
"camera_egoview_rot6d": {
|
| 341 |
+
"original_key": "action",
|
| 342 |
+
"start": 155,
|
| 343 |
+
"end": 161
|
| 344 |
+
}
|
| 345 |
+
},
|
| 346 |
+
"video": {
|
| 347 |
+
"ego_view": {
|
| 348 |
+
"original_key": "observation.images.ego_view"
|
| 349 |
+
}
|
| 350 |
+
},
|
| 351 |
+
"annotation": {
|
| 352 |
+
"human.fine_action": {
|
| 353 |
+
"original_key": "annotation.human.fine_action"
|
| 354 |
+
},
|
| 355 |
+
"human.coarse_action": {
|
| 356 |
+
"original_key": "annotation.human.coarse_action"
|
| 357 |
+
}
|
| 358 |
+
}
|
| 359 |
+
}
|
metadata/gr1_unified.PosttrainPnPNovelFromPlateToCardboardboxSplitA/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1,11 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": ""}
|
| 2 |
+
{"task_index": 1, "task": "unlocked_waist: pick the bell pepper from the plate and place it in the cardboard box"}
|
| 3 |
+
{"task_index": 2, "task": "unlocked_waist: pick the lemon from the plate and place it in the cardboard box"}
|
| 4 |
+
{"task_index": 3, "task": "unlocked_waist: pick the tomato from the plate and place it in the cardboard box"}
|
| 5 |
+
{"task_index": 4, "task": "unlocked_waist: pick the cupcake from the plate and place it in the cardboard box"}
|
| 6 |
+
{"task_index": 5, "task": "unlocked_waist: pick the can from the plate and place it in the cardboard box"}
|
| 7 |
+
{"task_index": 6, "task": "unlocked_waist: pick the croissant from the plate and place it in the cardboard box"}
|
| 8 |
+
{"task_index": 7, "task": "unlocked_waist: pick the eggplant from the plate and place it in the cardboard box"}
|
| 9 |
+
{"task_index": 8, "task": "unlocked_waist: pick the squash from the plate and place it in the cardboard box"}
|
| 10 |
+
{"task_index": 9, "task": "unlocked_waist: pick the pear from the plate and place it in the cardboard box"}
|
| 11 |
+
{"task_index": 10, "task": "unlocked_waist: pick the sweet potato from the plate and place it in the cardboard box"}
|
metadata/gr1_unified.PosttrainPnPNovelFromPlateToPanSplitA/meta/episodes.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
metadata/gr1_unified.PosttrainPnPNovelFromPlateToPanSplitA/meta/modality.json
ADDED
|
@@ -0,0 +1,359 @@
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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|
| 3 |
+
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|
| 4 |
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"original_key": "observation.state",
|
| 5 |
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"start": 0,
|
| 6 |
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"end": 7
|
| 7 |
+
},
|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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"end": 13
|
| 12 |
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},
|
| 13 |
+
"left_leg": {
|
| 14 |
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"original_key": "observation.state",
|
| 15 |
+
"start": 13,
|
| 16 |
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|
| 17 |
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},
|
| 18 |
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"neck": {
|
| 19 |
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|
| 20 |
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"start": 19,
|
| 21 |
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|
| 22 |
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},
|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
+
},
|
| 28 |
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"right_hand": {
|
| 29 |
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"original_key": "observation.state",
|
| 30 |
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"start": 29,
|
| 31 |
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|
| 32 |
+
},
|
| 33 |
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"right_leg": {
|
| 34 |
+
"original_key": "observation.state",
|
| 35 |
+
"start": 35,
|
| 36 |
+
"end": 41
|
| 37 |
+
},
|
| 38 |
+
"waist": {
|
| 39 |
+
"original_key": "observation.state",
|
| 40 |
+
"start": 41,
|
| 41 |
+
"end": 44
|
| 42 |
+
},
|
| 43 |
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"wrist_l_pos": {
|
| 44 |
+
"original_key": "observation.state",
|
| 45 |
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"start": 44,
|
| 46 |
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"end": 47
|
| 47 |
+
},
|
| 48 |
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"wrist_l_rot6d": {
|
| 49 |
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"original_key": "observation.state",
|
| 50 |
+
"start": 47,
|
| 51 |
+
"end": 53
|
| 52 |
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},
|
| 53 |
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"thumb_l_pos": {
|
| 54 |
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"original_key": "observation.state",
|
| 55 |
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"start": 53,
|
| 56 |
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|
| 57 |
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},
|
| 58 |
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"thumb_l_rot6d": {
|
| 59 |
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"original_key": "observation.state",
|
| 60 |
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|
| 61 |
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"end": 62
|
| 62 |
+
},
|
| 63 |
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"index_l_pos": {
|
| 64 |
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"original_key": "observation.state",
|
| 65 |
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"start": 62,
|
| 66 |
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"end": 65
|
| 67 |
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},
|
| 68 |
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"index_l_rot6d": {
|
| 69 |
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"original_key": "observation.state",
|
| 70 |
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"start": 65,
|
| 71 |
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"end": 71
|
| 72 |
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},
|
| 73 |
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"middle_l_pos": {
|
| 74 |
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"original_key": "observation.state",
|
| 75 |
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|
| 76 |
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"end": 74
|
| 77 |
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},
|
| 78 |
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"middle_l_rot6d": {
|
| 79 |
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"original_key": "observation.state",
|
| 80 |
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|
| 81 |
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|
| 82 |
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},
|
| 83 |
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"ring_l_pos": {
|
| 84 |
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"original_key": "observation.state",
|
| 85 |
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|
| 86 |
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|
| 87 |
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},
|
| 88 |
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"ring_l_rot6d": {
|
| 89 |
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"original_key": "observation.state",
|
| 90 |
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|
| 91 |
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"end": 89
|
| 92 |
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},
|
| 93 |
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"pinky_l_pos": {
|
| 94 |
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"original_key": "observation.state",
|
| 95 |
+
"start": 89,
|
| 96 |
+
"end": 92
|
| 97 |
+
},
|
| 98 |
+
"pinky_l_rot6d": {
|
| 99 |
+
"original_key": "observation.state",
|
| 100 |
+
"start": 92,
|
| 101 |
+
"end": 98
|
| 102 |
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},
|
| 103 |
+
"wrist_r_pos": {
|
| 104 |
+
"original_key": "observation.state",
|
| 105 |
+
"start": 98,
|
| 106 |
+
"end": 101
|
| 107 |
+
},
|
| 108 |
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"wrist_r_rot6d": {
|
| 109 |
+
"original_key": "observation.state",
|
| 110 |
+
"start": 101,
|
| 111 |
+
"end": 107
|
| 112 |
+
},
|
| 113 |
+
"thumb_r_pos": {
|
| 114 |
+
"original_key": "observation.state",
|
| 115 |
+
"start": 107,
|
| 116 |
+
"end": 110
|
| 117 |
+
},
|
| 118 |
+
"thumb_r_rot6d": {
|
| 119 |
+
"original_key": "observation.state",
|
| 120 |
+
"start": 110,
|
| 121 |
+
"end": 116
|
| 122 |
+
},
|
| 123 |
+
"index_r_pos": {
|
| 124 |
+
"original_key": "observation.state",
|
| 125 |
+
"start": 116,
|
| 126 |
+
"end": 119
|
| 127 |
+
},
|
| 128 |
+
"index_r_rot6d": {
|
| 129 |
+
"original_key": "observation.state",
|
| 130 |
+
"start": 119,
|
| 131 |
+
"end": 125
|
| 132 |
+
},
|
| 133 |
+
"middle_r_pos": {
|
| 134 |
+
"original_key": "observation.state",
|
| 135 |
+
"start": 125,
|
| 136 |
+
"end": 128
|
| 137 |
+
},
|
| 138 |
+
"middle_r_rot6d": {
|
| 139 |
+
"original_key": "observation.state",
|
| 140 |
+
"start": 128,
|
| 141 |
+
"end": 134
|
| 142 |
+
},
|
| 143 |
+
"ring_r_pos": {
|
| 144 |
+
"original_key": "observation.state",
|
| 145 |
+
"start": 134,
|
| 146 |
+
"end": 137
|
| 147 |
+
},
|
| 148 |
+
"ring_r_rot6d": {
|
| 149 |
+
"original_key": "observation.state",
|
| 150 |
+
"start": 137,
|
| 151 |
+
"end": 143
|
| 152 |
+
},
|
| 153 |
+
"pinky_r_pos": {
|
| 154 |
+
"original_key": "observation.state",
|
| 155 |
+
"start": 143,
|
| 156 |
+
"end": 146
|
| 157 |
+
},
|
| 158 |
+
"pinky_r_rot6d": {
|
| 159 |
+
"original_key": "observation.state",
|
| 160 |
+
"start": 146,
|
| 161 |
+
"end": 152
|
| 162 |
+
},
|
| 163 |
+
"camera_egoview_pos": {
|
| 164 |
+
"original_key": "observation.state",
|
| 165 |
+
"start": 152,
|
| 166 |
+
"end": 155
|
| 167 |
+
},
|
| 168 |
+
"camera_egoview_rot6d": {
|
| 169 |
+
"original_key": "observation.state",
|
| 170 |
+
"start": 155,
|
| 171 |
+
"end": 161
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"action": {
|
| 175 |
+
"left_arm": {
|
| 176 |
+
"original_key": "action",
|
| 177 |
+
"start": 0,
|
| 178 |
+
"end": 7
|
| 179 |
+
},
|
| 180 |
+
"left_hand": {
|
| 181 |
+
"original_key": "action",
|
| 182 |
+
"start": 7,
|
| 183 |
+
"end": 13
|
| 184 |
+
},
|
| 185 |
+
"left_leg": {
|
| 186 |
+
"original_key": "action",
|
| 187 |
+
"start": 13,
|
| 188 |
+
"end": 19
|
| 189 |
+
},
|
| 190 |
+
"neck": {
|
| 191 |
+
"original_key": "action",
|
| 192 |
+
"start": 19,
|
| 193 |
+
"end": 22
|
| 194 |
+
},
|
| 195 |
+
"right_arm": {
|
| 196 |
+
"original_key": "action",
|
| 197 |
+
"start": 22,
|
| 198 |
+
"end": 29
|
| 199 |
+
},
|
| 200 |
+
"right_hand": {
|
| 201 |
+
"original_key": "action",
|
| 202 |
+
"start": 29,
|
| 203 |
+
"end": 35
|
| 204 |
+
},
|
| 205 |
+
"right_leg": {
|
| 206 |
+
"original_key": "action",
|
| 207 |
+
"start": 35,
|
| 208 |
+
"end": 41
|
| 209 |
+
},
|
| 210 |
+
"waist": {
|
| 211 |
+
"original_key": "action",
|
| 212 |
+
"start": 41,
|
| 213 |
+
"end": 44
|
| 214 |
+
},
|
| 215 |
+
"wrist_l_pos": {
|
| 216 |
+
"original_key": "action",
|
| 217 |
+
"start": 44,
|
| 218 |
+
"end": 47
|
| 219 |
+
},
|
| 220 |
+
"wrist_l_rot6d": {
|
| 221 |
+
"original_key": "action",
|
| 222 |
+
"start": 47,
|
| 223 |
+
"end": 53
|
| 224 |
+
},
|
| 225 |
+
"thumb_l_pos": {
|
| 226 |
+
"original_key": "action",
|
| 227 |
+
"start": 53,
|
| 228 |
+
"end": 56
|
| 229 |
+
},
|
| 230 |
+
"thumb_l_rot6d": {
|
| 231 |
+
"original_key": "action",
|
| 232 |
+
"start": 56,
|
| 233 |
+
"end": 62
|
| 234 |
+
},
|
| 235 |
+
"index_l_pos": {
|
| 236 |
+
"original_key": "action",
|
| 237 |
+
"start": 62,
|
| 238 |
+
"end": 65
|
| 239 |
+
},
|
| 240 |
+
"index_l_rot6d": {
|
| 241 |
+
"original_key": "action",
|
| 242 |
+
"start": 65,
|
| 243 |
+
"end": 71
|
| 244 |
+
},
|
| 245 |
+
"middle_l_pos": {
|
| 246 |
+
"original_key": "action",
|
| 247 |
+
"start": 71,
|
| 248 |
+
"end": 74
|
| 249 |
+
},
|
| 250 |
+
"middle_l_rot6d": {
|
| 251 |
+
"original_key": "action",
|
| 252 |
+
"start": 74,
|
| 253 |
+
"end": 80
|
| 254 |
+
},
|
| 255 |
+
"ring_l_pos": {
|
| 256 |
+
"original_key": "action",
|
| 257 |
+
"start": 80,
|
| 258 |
+
"end": 83
|
| 259 |
+
},
|
| 260 |
+
"ring_l_rot6d": {
|
| 261 |
+
"original_key": "action",
|
| 262 |
+
"start": 83,
|
| 263 |
+
"end": 89
|
| 264 |
+
},
|
| 265 |
+
"pinky_l_pos": {
|
| 266 |
+
"original_key": "action",
|
| 267 |
+
"start": 89,
|
| 268 |
+
"end": 92
|
| 269 |
+
},
|
| 270 |
+
"pinky_l_rot6d": {
|
| 271 |
+
"original_key": "action",
|
| 272 |
+
"start": 92,
|
| 273 |
+
"end": 98
|
| 274 |
+
},
|
| 275 |
+
"wrist_r_pos": {
|
| 276 |
+
"original_key": "action",
|
| 277 |
+
"start": 98,
|
| 278 |
+
"end": 101
|
| 279 |
+
},
|
| 280 |
+
"wrist_r_rot6d": {
|
| 281 |
+
"original_key": "action",
|
| 282 |
+
"start": 101,
|
| 283 |
+
"end": 107
|
| 284 |
+
},
|
| 285 |
+
"thumb_r_pos": {
|
| 286 |
+
"original_key": "action",
|
| 287 |
+
"start": 107,
|
| 288 |
+
"end": 110
|
| 289 |
+
},
|
| 290 |
+
"thumb_r_rot6d": {
|
| 291 |
+
"original_key": "action",
|
| 292 |
+
"start": 110,
|
| 293 |
+
"end": 116
|
| 294 |
+
},
|
| 295 |
+
"index_r_pos": {
|
| 296 |
+
"original_key": "action",
|
| 297 |
+
"start": 116,
|
| 298 |
+
"end": 119
|
| 299 |
+
},
|
| 300 |
+
"index_r_rot6d": {
|
| 301 |
+
"original_key": "action",
|
| 302 |
+
"start": 119,
|
| 303 |
+
"end": 125
|
| 304 |
+
},
|
| 305 |
+
"middle_r_pos": {
|
| 306 |
+
"original_key": "action",
|
| 307 |
+
"start": 125,
|
| 308 |
+
"end": 128
|
| 309 |
+
},
|
| 310 |
+
"middle_r_rot6d": {
|
| 311 |
+
"original_key": "action",
|
| 312 |
+
"start": 128,
|
| 313 |
+
"end": 134
|
| 314 |
+
},
|
| 315 |
+
"ring_r_pos": {
|
| 316 |
+
"original_key": "action",
|
| 317 |
+
"start": 134,
|
| 318 |
+
"end": 137
|
| 319 |
+
},
|
| 320 |
+
"ring_r_rot6d": {
|
| 321 |
+
"original_key": "action",
|
| 322 |
+
"start": 137,
|
| 323 |
+
"end": 143
|
| 324 |
+
},
|
| 325 |
+
"pinky_r_pos": {
|
| 326 |
+
"original_key": "action",
|
| 327 |
+
"start": 143,
|
| 328 |
+
"end": 146
|
| 329 |
+
},
|
| 330 |
+
"pinky_r_rot6d": {
|
| 331 |
+
"original_key": "action",
|
| 332 |
+
"start": 146,
|
| 333 |
+
"end": 152
|
| 334 |
+
},
|
| 335 |
+
"camera_egoview_pos": {
|
| 336 |
+
"original_key": "action",
|
| 337 |
+
"start": 152,
|
| 338 |
+
"end": 155
|
| 339 |
+
},
|
| 340 |
+
"camera_egoview_rot6d": {
|
| 341 |
+
"original_key": "action",
|
| 342 |
+
"start": 155,
|
| 343 |
+
"end": 161
|
| 344 |
+
}
|
| 345 |
+
},
|
| 346 |
+
"video": {
|
| 347 |
+
"ego_view": {
|
| 348 |
+
"original_key": "observation.images.ego_view"
|
| 349 |
+
}
|
| 350 |
+
},
|
| 351 |
+
"annotation": {
|
| 352 |
+
"human.fine_action": {
|
| 353 |
+
"original_key": "annotation.human.fine_action"
|
| 354 |
+
},
|
| 355 |
+
"human.coarse_action": {
|
| 356 |
+
"original_key": "annotation.human.coarse_action"
|
| 357 |
+
}
|
| 358 |
+
}
|
| 359 |
+
}
|
metadata/gr1_unified.PosttrainPnPNovelFromPlateToPanSplitA/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1,11 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": ""}
|
| 2 |
+
{"task_index": 1, "task": "unlocked_waist: pick the tomato from the plate and place it in the pan"}
|
| 3 |
+
{"task_index": 2, "task": "unlocked_waist: pick the lemon from the plate and place it in the pan"}
|
| 4 |
+
{"task_index": 3, "task": "unlocked_waist: pick the can from the plate and place it in the pan"}
|
| 5 |
+
{"task_index": 4, "task": "unlocked_waist: pick the squash from the plate and place it in the pan"}
|
| 6 |
+
{"task_index": 5, "task": "unlocked_waist: pick the bell pepper from the plate and place it in the pan"}
|
| 7 |
+
{"task_index": 6, "task": "unlocked_waist: pick the croissant from the plate and place it in the pan"}
|
| 8 |
+
{"task_index": 7, "task": "unlocked_waist: pick the eggplant from the plate and place it in the pan"}
|
| 9 |
+
{"task_index": 8, "task": "unlocked_waist: pick the cupcake from the plate and place it in the pan"}
|
| 10 |
+
{"task_index": 9, "task": "unlocked_waist: pick the pear from the plate and place it in the pan"}
|
| 11 |
+
{"task_index": 10, "task": "unlocked_waist: pick the sweet potato from the plate and place it in the pan"}
|
metadata/gr1_unified.PosttrainPnPNovelFromPlateToPlateSplitA/meta/episodes.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
metadata/gr1_unified.PosttrainPnPNovelFromPlateToPlateSplitA/meta/modality.json
ADDED
|
@@ -0,0 +1,359 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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| 1 |
+
{
|
| 2 |
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"state": {
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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| 8 |
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| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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},
|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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},
|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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}
|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
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|
| 217 |
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|
| 218 |
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|
| 219 |
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|
| 220 |
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|
| 221 |
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|
| 222 |
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|
| 223 |
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|
| 224 |
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|
| 225 |
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|
| 226 |
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| 227 |
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|
| 228 |
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|
| 229 |
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|
| 230 |
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| 231 |
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| 232 |
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|
| 233 |
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|
| 234 |
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| 235 |
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| 236 |
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| 237 |
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| 238 |
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|
| 239 |
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| 240 |
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| 241 |
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| 242 |
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| 243 |
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|
| 244 |
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|
| 245 |
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|
| 246 |
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| 247 |
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| 248 |
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| 249 |
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|
| 250 |
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| 251 |
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| 252 |
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| 253 |
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|
| 254 |
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|
| 255 |
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| 256 |
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| 257 |
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| 258 |
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| 259 |
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| 260 |
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| 262 |
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| 263 |
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| 264 |
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| 265 |
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| 266 |
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| 267 |
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| 268 |
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| 269 |
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|
| 270 |
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| 272 |
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| 273 |
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| 274 |
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|
| 275 |
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| 276 |
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| 277 |
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| 278 |
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| 279 |
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| 280 |
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| 281 |
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| 282 |
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| 283 |
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|
| 284 |
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|
| 285 |
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| 286 |
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| 287 |
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| 288 |
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| 289 |
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|
| 290 |
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| 291 |
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| 292 |
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| 293 |
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|
| 294 |
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|
| 295 |
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| 296 |
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| 297 |
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| 298 |
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| 299 |
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| 300 |
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| 304 |
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| 305 |
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| 306 |
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| 307 |
+
"start": 125,
|
| 308 |
+
"end": 128
|
| 309 |
+
},
|
| 310 |
+
"middle_r_rot6d": {
|
| 311 |
+
"original_key": "action",
|
| 312 |
+
"start": 128,
|
| 313 |
+
"end": 134
|
| 314 |
+
},
|
| 315 |
+
"ring_r_pos": {
|
| 316 |
+
"original_key": "action",
|
| 317 |
+
"start": 134,
|
| 318 |
+
"end": 137
|
| 319 |
+
},
|
| 320 |
+
"ring_r_rot6d": {
|
| 321 |
+
"original_key": "action",
|
| 322 |
+
"start": 137,
|
| 323 |
+
"end": 143
|
| 324 |
+
},
|
| 325 |
+
"pinky_r_pos": {
|
| 326 |
+
"original_key": "action",
|
| 327 |
+
"start": 143,
|
| 328 |
+
"end": 146
|
| 329 |
+
},
|
| 330 |
+
"pinky_r_rot6d": {
|
| 331 |
+
"original_key": "action",
|
| 332 |
+
"start": 146,
|
| 333 |
+
"end": 152
|
| 334 |
+
},
|
| 335 |
+
"camera_egoview_pos": {
|
| 336 |
+
"original_key": "action",
|
| 337 |
+
"start": 152,
|
| 338 |
+
"end": 155
|
| 339 |
+
},
|
| 340 |
+
"camera_egoview_rot6d": {
|
| 341 |
+
"original_key": "action",
|
| 342 |
+
"start": 155,
|
| 343 |
+
"end": 161
|
| 344 |
+
}
|
| 345 |
+
},
|
| 346 |
+
"video": {
|
| 347 |
+
"ego_view": {
|
| 348 |
+
"original_key": "observation.images.ego_view"
|
| 349 |
+
}
|
| 350 |
+
},
|
| 351 |
+
"annotation": {
|
| 352 |
+
"human.fine_action": {
|
| 353 |
+
"original_key": "annotation.human.fine_action"
|
| 354 |
+
},
|
| 355 |
+
"human.coarse_action": {
|
| 356 |
+
"original_key": "annotation.human.coarse_action"
|
| 357 |
+
}
|
| 358 |
+
}
|
| 359 |
+
}
|
metadata/gr1_unified.PosttrainPnPNovelFromPlateToPlateSplitA/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1,11 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": ""}
|
| 2 |
+
{"task_index": 1, "task": "unlocked_waist: pick the bell pepper from the plate and place it in the plate"}
|
| 3 |
+
{"task_index": 2, "task": "unlocked_waist: pick the tomato from the plate and place it in the plate"}
|
| 4 |
+
{"task_index": 3, "task": "unlocked_waist: pick the cupcake from the plate and place it in the plate"}
|
| 5 |
+
{"task_index": 4, "task": "unlocked_waist: pick the lemon from the plate and place it in the plate"}
|
| 6 |
+
{"task_index": 5, "task": "unlocked_waist: pick the squash from the plate and place it in the plate"}
|
| 7 |
+
{"task_index": 6, "task": "unlocked_waist: pick the croissant from the plate and place it in the plate"}
|
| 8 |
+
{"task_index": 7, "task": "unlocked_waist: pick the can from the plate and place it in the plate"}
|
| 9 |
+
{"task_index": 8, "task": "unlocked_waist: pick the eggplant from the plate and place it in the plate"}
|
| 10 |
+
{"task_index": 9, "task": "unlocked_waist: pick the sweet potato from the plate and place it in the plate"}
|
| 11 |
+
{"task_index": 10, "task": "unlocked_waist: pick the pear from the plate and place it in the plate"}
|
metadata/gr1_unified.PosttrainPnPNovelFromTrayToCardboardboxSplitA/meta/episodes.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
metadata/gr1_unified.PosttrainPnPNovelFromTrayToCardboardboxSplitA/meta/modality.json
ADDED
|
@@ -0,0 +1,359 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
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|
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|
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|
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|
|
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|
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|
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|
|
|
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|
|
|
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|
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|
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|
|
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|
|
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|
|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"state": {
|
| 3 |
+
"left_arm": {
|
| 4 |
+
"original_key": "observation.state",
|
| 5 |
+
"start": 0,
|
| 6 |
+
"end": 7
|
| 7 |
+
},
|
| 8 |
+
"left_hand": {
|
| 9 |
+
"original_key": "observation.state",
|
| 10 |
+
"start": 7,
|
| 11 |
+
"end": 13
|
| 12 |
+
},
|
| 13 |
+
"left_leg": {
|
| 14 |
+
"original_key": "observation.state",
|
| 15 |
+
"start": 13,
|
| 16 |
+
"end": 19
|
| 17 |
+
},
|
| 18 |
+
"neck": {
|
| 19 |
+
"original_key": "observation.state",
|
| 20 |
+
"start": 19,
|
| 21 |
+
"end": 22
|
| 22 |
+
},
|
| 23 |
+
"right_arm": {
|
| 24 |
+
"original_key": "observation.state",
|
| 25 |
+
"start": 22,
|
| 26 |
+
"end": 29
|
| 27 |
+
},
|
| 28 |
+
"right_hand": {
|
| 29 |
+
"original_key": "observation.state",
|
| 30 |
+
"start": 29,
|
| 31 |
+
"end": 35
|
| 32 |
+
},
|
| 33 |
+
"right_leg": {
|
| 34 |
+
"original_key": "observation.state",
|
| 35 |
+
"start": 35,
|
| 36 |
+
"end": 41
|
| 37 |
+
},
|
| 38 |
+
"waist": {
|
| 39 |
+
"original_key": "observation.state",
|
| 40 |
+
"start": 41,
|
| 41 |
+
"end": 44
|
| 42 |
+
},
|
| 43 |
+
"wrist_l_pos": {
|
| 44 |
+
"original_key": "observation.state",
|
| 45 |
+
"start": 44,
|
| 46 |
+
"end": 47
|
| 47 |
+
},
|
| 48 |
+
"wrist_l_rot6d": {
|
| 49 |
+
"original_key": "observation.state",
|
| 50 |
+
"start": 47,
|
| 51 |
+
"end": 53
|
| 52 |
+
},
|
| 53 |
+
"thumb_l_pos": {
|
| 54 |
+
"original_key": "observation.state",
|
| 55 |
+
"start": 53,
|
| 56 |
+
"end": 56
|
| 57 |
+
},
|
| 58 |
+
"thumb_l_rot6d": {
|
| 59 |
+
"original_key": "observation.state",
|
| 60 |
+
"start": 56,
|
| 61 |
+
"end": 62
|
| 62 |
+
},
|
| 63 |
+
"index_l_pos": {
|
| 64 |
+
"original_key": "observation.state",
|
| 65 |
+
"start": 62,
|
| 66 |
+
"end": 65
|
| 67 |
+
},
|
| 68 |
+
"index_l_rot6d": {
|
| 69 |
+
"original_key": "observation.state",
|
| 70 |
+
"start": 65,
|
| 71 |
+
"end": 71
|
| 72 |
+
},
|
| 73 |
+
"middle_l_pos": {
|
| 74 |
+
"original_key": "observation.state",
|
| 75 |
+
"start": 71,
|
| 76 |
+
"end": 74
|
| 77 |
+
},
|
| 78 |
+
"middle_l_rot6d": {
|
| 79 |
+
"original_key": "observation.state",
|
| 80 |
+
"start": 74,
|
| 81 |
+
"end": 80
|
| 82 |
+
},
|
| 83 |
+
"ring_l_pos": {
|
| 84 |
+
"original_key": "observation.state",
|
| 85 |
+
"start": 80,
|
| 86 |
+
"end": 83
|
| 87 |
+
},
|
| 88 |
+
"ring_l_rot6d": {
|
| 89 |
+
"original_key": "observation.state",
|
| 90 |
+
"start": 83,
|
| 91 |
+
"end": 89
|
| 92 |
+
},
|
| 93 |
+
"pinky_l_pos": {
|
| 94 |
+
"original_key": "observation.state",
|
| 95 |
+
"start": 89,
|
| 96 |
+
"end": 92
|
| 97 |
+
},
|
| 98 |
+
"pinky_l_rot6d": {
|
| 99 |
+
"original_key": "observation.state",
|
| 100 |
+
"start": 92,
|
| 101 |
+
"end": 98
|
| 102 |
+
},
|
| 103 |
+
"wrist_r_pos": {
|
| 104 |
+
"original_key": "observation.state",
|
| 105 |
+
"start": 98,
|
| 106 |
+
"end": 101
|
| 107 |
+
},
|
| 108 |
+
"wrist_r_rot6d": {
|
| 109 |
+
"original_key": "observation.state",
|
| 110 |
+
"start": 101,
|
| 111 |
+
"end": 107
|
| 112 |
+
},
|
| 113 |
+
"thumb_r_pos": {
|
| 114 |
+
"original_key": "observation.state",
|
| 115 |
+
"start": 107,
|
| 116 |
+
"end": 110
|
| 117 |
+
},
|
| 118 |
+
"thumb_r_rot6d": {
|
| 119 |
+
"original_key": "observation.state",
|
| 120 |
+
"start": 110,
|
| 121 |
+
"end": 116
|
| 122 |
+
},
|
| 123 |
+
"index_r_pos": {
|
| 124 |
+
"original_key": "observation.state",
|
| 125 |
+
"start": 116,
|
| 126 |
+
"end": 119
|
| 127 |
+
},
|
| 128 |
+
"index_r_rot6d": {
|
| 129 |
+
"original_key": "observation.state",
|
| 130 |
+
"start": 119,
|
| 131 |
+
"end": 125
|
| 132 |
+
},
|
| 133 |
+
"middle_r_pos": {
|
| 134 |
+
"original_key": "observation.state",
|
| 135 |
+
"start": 125,
|
| 136 |
+
"end": 128
|
| 137 |
+
},
|
| 138 |
+
"middle_r_rot6d": {
|
| 139 |
+
"original_key": "observation.state",
|
| 140 |
+
"start": 128,
|
| 141 |
+
"end": 134
|
| 142 |
+
},
|
| 143 |
+
"ring_r_pos": {
|
| 144 |
+
"original_key": "observation.state",
|
| 145 |
+
"start": 134,
|
| 146 |
+
"end": 137
|
| 147 |
+
},
|
| 148 |
+
"ring_r_rot6d": {
|
| 149 |
+
"original_key": "observation.state",
|
| 150 |
+
"start": 137,
|
| 151 |
+
"end": 143
|
| 152 |
+
},
|
| 153 |
+
"pinky_r_pos": {
|
| 154 |
+
"original_key": "observation.state",
|
| 155 |
+
"start": 143,
|
| 156 |
+
"end": 146
|
| 157 |
+
},
|
| 158 |
+
"pinky_r_rot6d": {
|
| 159 |
+
"original_key": "observation.state",
|
| 160 |
+
"start": 146,
|
| 161 |
+
"end": 152
|
| 162 |
+
},
|
| 163 |
+
"camera_egoview_pos": {
|
| 164 |
+
"original_key": "observation.state",
|
| 165 |
+
"start": 152,
|
| 166 |
+
"end": 155
|
| 167 |
+
},
|
| 168 |
+
"camera_egoview_rot6d": {
|
| 169 |
+
"original_key": "observation.state",
|
| 170 |
+
"start": 155,
|
| 171 |
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| 234 |
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| 274 |
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| 279 |
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| 294 |
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| 299 |
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| 304 |
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| 307 |
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| 309 |
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| 310 |
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| 312 |
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| 314 |
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| 315 |
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| 319 |
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| 320 |
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| 322 |
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| 323 |
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| 324 |
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| 325 |
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| 326 |
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| 327 |
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| 328 |
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| 329 |
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| 330 |
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| 331 |
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| 332 |
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| 333 |
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|
| 334 |
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},
|
| 335 |
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| 336 |
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| 337 |
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| 338 |
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| 339 |
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| 344 |
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| 345 |
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},
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| 346 |
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| 347 |
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| 348 |
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|
| 349 |
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}
|
| 350 |
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},
|
| 351 |
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| 352 |
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| 353 |
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|
| 354 |
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| 355 |
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| 356 |
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|
| 357 |
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}
|
| 358 |
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}
|
| 359 |
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}
|