Hugging Face's logo

Datasets:
IliaLarchenko
/
behavior_224_rgb

Modalities:
Video
ArXiv:
Tags:
lerobot
v2.1
License:
Dataset card Data Studio Files
xet
behavior_224_rgb / annotations /task-0042 /episode_00420060.json
IliaLarchenko's picture
IliaLarchenko
Upload folder using huggingface_hub
e9a8c0f verified
raw
history blame
17.3 kB
{
 "task_name": "chop an onion",
 "data_folder": "",
 "meta_data": {
 "task_duration": 6543,
 "valid_duration": [
 84,
 6627
 ]
 },
 "skill_annotation": [
 {
 "skill_idx": 0,
 "skill_id": [
 1
 ],
 "skill_description": [
 "move to"
 ],
 "object_id": [
 [
 "cutting_board_76"
 ]
 ],
 "manipulating_object_id": [],
 "spatial_prefix": [],
 "frame_duration": [
 84,
 876
 ],
 "mp_ef": [],
 "skill_type": [
 "navigation"
 ]
 },
 {
 "skill_idx": 1,
 "skill_id": [
 2
 ],
 "skill_description": [
 "pick up from"
 ],
 "object_id": [
 [
 "cutting_board_76",
 "bar_egwapq_0"
 ]
 ],
 "manipulating_object_id": [
 "cutting_board_76"
 ],
 "spatial_prefix": [],
 "frame_duration": [
 876,
 1526
 ],
 "mp_ef": [],
 "skill_type": [
 "uncoordinated"
 ]
 },
 {
 "skill_idx": 2,
 "skill_id": [
 91
 ],
 "skill_description": [
 "place on next to"
 ],
 "object_id": [
 [
 "cutting_board_76",
 "bar_egwapq_0",
 "drop_in_sink_lkklqs_0"
 ]
 ],
 "manipulating_object_id": [
 "cutting_board_76"
 ],
 "spatial_prefix": [
 [
 "",
 "",
 "left"
 ]
 ],
 "frame_duration": [
 1526,
 2024
 ],
 "mp_ef": [],
 "skill_type": [
 "uncoordinated"
 ]
 },
 {
 "skill_idx": 3,
 "skill_id": [
 1
 ],
 "skill_description": [
 "move to"
 ],
 "object_id": [
 [
 "vidalia_onion_75"
 ]
 ],
 "manipulating_object_id": [],
 "spatial_prefix": [],
 "frame_duration": [
 2024,
 2175
 ],
 "mp_ef": [],
 "skill_type": [
 "navigation"
 ]
 },
 {
 "skill_idx": 4,
 "skill_id": [
 2
 ],
 "skill_description": [
 "pick up from"
 ],
 "object_id": [
 [
 "vidalia_onion_75",
 "drop_in_sink_lkklqs_0"
 ]
 ],
 "manipulating_object_id": [
 "vidalia_onion_75"
 ],
 "spatial_prefix": [],
 "frame_duration": [
 2175,
 2627
 ],
 "mp_ef": [],
 "skill_type": [
 "uncoordinated"
 ]
 },
 {
 "skill_idx": 5,
 "skill_id": [
 1
 ],
 "skill_description": [
 "move to"
 ],
 "object_id": [
 [
 "cutting_board_76"
 ]
 ],
 "manipulating_object_id": [],
 "spatial_prefix": [],
 "frame_duration": [
 2627,
 2681
 ],
 "mp_ef": [],
 "skill_type": [
 "navigation"
 ]
 },
 {
 "skill_idx": 6,
 "skill_id": [
 3
 ],
 "skill_description": [
 "place on"
 ],
 "object_id": [
 [
 "vidalia_onion_75",
 "cutting_board_76"
 ]
 ],
 "manipulating_object_id": [
 "vidalia_onion_75"
 ],
 "spatial_prefix": [],
 "frame_duration": [
 2681,
 3116
 ],
 "mp_ef": [],
 "skill_type": [
 "uncoordinated"
 ]
 },
 {
 "skill_idx": 7,
 "skill_id": [
 1
 ],
 "skill_description": [
 "move to"
 ],
 "object_id": [
 [
 "parer_74"
 ]
 ],
 "manipulating_object_id": [],
 "spatial_prefix": [],
 "frame_duration": [
 3116,
 3323
 ],
 "mp_ef": [],
 "skill_type": [
 "navigation"
 ]
 },
 {
 "skill_idx": 8,
 "skill_id": [
 93
 ],
 "skill_description": [
 "turn to"
 ],
 "object_id": [
 [
 "parer_74",
 "robot"
 ]
 ],
 "manipulating_object_id": [
 "parer_74"
 ],
 "spatial_prefix": [
 [
 "",
 "face_away"
 ]
 ],
 "frame_duration": [
 3323,
 4514
 ],
 "mp_ef": [],
 "skill_type": [
 "uncoordinated"
 ]
 },
 {
 "skill_idx": 9,
 "skill_id": [
 2
 ],
 "skill_description": [
 "pick up from"
 ],
 "object_id": [
 [
 "parer_74",
 "bar_egwapq_0"
 ]
 ],
 "manipulating_object_id": [
 "parer_74"
 ],
 "spatial_prefix": [],
 "frame_duration": [
 4514,
 4752
 ],
 "mp_ef": [],
 "skill_type": [
 "uncoordinated"
 ]
 },
 {
 "skill_idx": 10,
 "skill_id": [
 1
 ],
 "skill_description": [
 "move to"
 ],
 "object_id": [
 [
 "vidalia_onion_75"
 ]
 ],
 "manipulating_object_id": [],
 "spatial_prefix": [],
 "frame_duration": [
 4752,
 5119
 ],
 "mp_ef": [],
 "skill_type": [
 "navigation"
 ]
 },
 {
 "skill_idx": 11,
 "skill_id": [
 34
 ],
 "skill_description": [
 "chop"
 ],
 "object_id": [
 [
 "parer_74",
 "vidalia_onion_75"
 ]
 ],
 "manipulating_object_id": [
 "parer_74"
 ],
 "spatial_prefix": [],
 "frame_duration": [
 5119,
 5371
 ],
 "mp_ef": [],
 "skill_type": [
 "uncoordinated"
 ]
 },
 {
 "skill_idx": 12,
 "skill_id": [
 34
 ],
 "skill_description": [
 "chop"
 ],
 "object_id": [
 [
 "parer_74",
 "half_vidalia_onion_75_1"
 ]
 ],
 "manipulating_object_id": [
 "parer_74"
 ],
 "spatial_prefix": [],
 "frame_duration": [
 5371,
 5418
 ],
 "mp_ef": [],
 "skill_type": [
 "uncoordinated"
 ]
 },
 {
 "skill_idx": 13,
 "skill_id": [
 34
 ],
 "skill_description": [
 "chop"
 ],
 "object_id": [
 [
 "parer_74",
 "half_vidalia_onion_75_0"
 ]
 ],
 "manipulating_object_id": [
 "parer_74"
 ],
 "spatial_prefix": [],
 "frame_duration": [
 5418,
 5497
 ],
 "mp_ef": [],
 "skill_type": [
 "uncoordinated"
 ]
 },
 {
 "skill_idx": 14,
 "skill_id": [
 4
 ],
 "skill_description": [
 "place in"
 ],
 "object_id": [
 [
 "parer_74",
 "drop_in_sink_lkklqs_0"
 ]
 ],
 "manipulating_object_id": [
 "parer_74"
 ],
 "spatial_prefix": [],
 "frame_duration": [
 5497,
 5586
 ],
 "mp_ef": [],
 "skill_type": [
 "uncoordinated"
 ]
 },
 {
 "skill_idx": 15,
 "skill_id": [
 1
 ],
 "skill_description": [
 "move to"
 ],
 "object_id": [
 [
 "cutting_board_76"
 ]
 ],
 "manipulating_object_id": [],
 "spatial_prefix": [],
 "frame_duration": [
 5586,
 5613
 ],
 "mp_ef": [],
 "skill_type": [
 "navigation"
 ]
 },
 {
 "skill_idx": 16,
 "skill_id": [
 2
 ],
 "skill_description": [
 "pick up from"
 ],
 "object_id": [
 [
 "cutting_board_76",
 "bar_egwapq_0"
 ]
 ],
 "manipulating_object_id": [
 "cutting_board_76"
 ],
 "spatial_prefix": [],
 "frame_duration": [
 5613,
 5803
 ],
 "mp_ef": [],
 "skill_type": [
 "uncoordinated"
 ]
 },
 {
 "skill_idx": 17,
 "skill_id": [
 1
 ],
 "skill_description": [
 "move to"
 ],
 "object_id": [
 [
 "bowl_73"
 ]
 ],
 "manipulating_object_id": [],
 "spatial_prefix": [],
 "frame_duration": [
 5803,
 5878
 ],
 "mp_ef": [],
 "skill_type": [
 "navigation"
 ]
 },
 {
 "skill_idx": 18,
 "skill_id": [
 28
 ],
 "skill_description": [
 "pour"
 ],
 "object_id": [
 [
 [
 "diced__vidalia_onion"
 ],
 "cutting_board_76",
 "bowl_73"
 ]
 ],
 "manipulating_object_id": [
 "cutting_board_76"
 ],
 "spatial_prefix": [],
 "frame_duration": [
 5878,
 6063
 ],
 "mp_ef": [],
 "skill_type": [
 "uncoordinated"
 ]
 },
 {
 "skill_idx": 19,
 "skill_id": [
 1
 ],
 "skill_description": [
 "move to"
 ],
 "object_id": [
 [
 "drop_in_sink_lkklqs_0"
 ]
 ],
 "manipulating_object_id": [],
 "spatial_prefix": [],
 "frame_duration": [
 6063,
 6129
 ],
 "mp_ef": [],
 "skill_type": [
 "navigation"
 ]
 },
 {
 "skill_idx": 20,
 "skill_id": [
 4
 ],
 "skill_description": [
 "place in"
 ],
 "object_id": [
 [
 "cutting_board_76",
 "drop_in_sink_lkklqs_0"
 ]
 ],
 "manipulating_object_id": [
 "cutting_board_76"
 ],
 "spatial_prefix": [],
 "frame_duration": [
 6129,
 6627
 ],
 "mp_ef": [],
 "skill_type": [
 "uncoordinated"
 ]
 }
 ],
 "primitive_annotation": [
 {
 "primitive_idx": 0,
 "primitive_id": [
 2,
 91
 ],
 "primitive_description": [
 "pick up from",
 "place on next to"
 ],
 "object_id": [
 [
 "cutting_board_76",
 "bar_egwapq_0"
 ],
 [
 "cutting_board_76",
 "bar_egwapq_0",
 "drop_in_sink_lkklqs_0"
 ]
 ],
 "manipulating_object_id": [
 "cutting_board_76",
 "cutting_board_76"
 ],
 "spatial_prefix": [
 [],
 [
 [],
 [],
 [
 "left"
 ]
 ]
 ],
 "frame_duration": [
 84,
 2024
 ],
 "skill_idxes": [
 0,
 1,
 2
 ]
 },
 {
 "primitive_idx": 1,
 "primitive_id": [
 2,
 3
 ],
 "primitive_description": [
 "pick up from",
 "place on"
 ],
 "object_id": [
 [
 "vidalia_onion_75",
 "drop_in_sink_lkklqs_0"
 ],
 [
 "vidalia_onion_75",
 "cutting_board_76"
 ]
 ],
 "manipulating_object_id": [
 "vidalia_onion_75",
 "vidalia_onion_75"
 ],
 "spatial_prefix": [],
 "frame_duration": [
 2024,
 3116
 ],
 "skill_idxes": [
 3,
 4,
 5,
 6
 ]
 },
 {
 "primitive_idx": 2,
 "primitive_id": [
 34
 ],
 "primitive_description": [
 "chop"
 ],
 "object_id": [
 [
 "parer_74",
 [
 "vidalia_onion_75",
 "half_vidalia_onion_75_1",
 "half_vidalia_onion_75_0"
 ]
 ]
 ],
 "manipulating_object_id": [
 "parer_74"
 ],
 "spatial_prefix": [],
 "frame_duration": [
 3116,
 5586
 ],
 "skill_idxes": [
 7,
 8,
 9,
 10,
 11,
 12,
 13,
 14
 ]
 },
 {
 "primitive_idx": 3,
 "primitive_id": [
 28
 ],
 "primitive_description": [
 "pour"
 ],
 "object_id": [
 [
 [
 "diced__vidalia_onion"
 ],
 "cutting_board_76",
 "bowl_73"
 ]
 ],
 "manipulating_object_id": [
 "cutting_board_76"
 ],
 "spatial_prefix": [],
 "frame_duration": [
 5586,
 6627
 ],
 "skill_idxes": [
 15,
 16,
 17,
 18,
 19,
 20
 ]
 }
 ]
}