diff --git a/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251124-104824-bad-cucumber/annotations/chunk-000/observation.images.front/episode_000020.json b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251124-104824-bad-cucumber/annotations/chunk-000/observation.images.front/episode_000020.json new file mode 100644 index 0000000000000000000000000000000000000000..2fe95043c6e1590a86bfcef5364ec4672c84c24f --- /dev/null +++ b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251124-104824-bad-cucumber/annotations/chunk-000/observation.images.front/episode_000020.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓起黄瓜放在盘子上:\n开始移动:0%\n爪夹靠近黄瓜:20%\n爪夹碰触黄瓜:30%\n爪夹抓取黄瓜:40%\n爪夹抓住黄瓜接近盘子:60%\n爪夹松开，黄瓜准备掉入盘子:80%\n爪夹松开,黄瓜安稳落入盘子:100%", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 69, + "progress": 0, + "progress_explanation": "", + "state_description": "", + 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of file diff --git a/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251124-104824-bad-cucumber/annotations/chunk-000/observation.images.front/episode_000022.json b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251124-104824-bad-cucumber/annotations/chunk-000/observation.images.front/episode_000022.json new file mode 100644 index 0000000000000000000000000000000000000000..3d26a05db97d4edc06cd813106796cc580c89ba1 --- /dev/null +++ b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251124-104824-bad-cucumber/annotations/chunk-000/observation.images.front/episode_000022.json @@ -0,0 +1,622 @@ +{ + "task_description": "把黄瓜夹起来放进盘子里\n爪夹开始移动:0\n爪夹接近黄瓜:20%\n爪夹夹起黄瓜:40%\n爪夹夹起黄瓜接近盘子:60%\n爪夹将黄瓜放入盘子内:80%\n爪夹松开，黄瓜落入盘子内:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，准备移动。", + "annotations": { + "bbox_1766112298547": { + "instances": [ + { + "height": 0.3373333058810786, + "id": "bbox_1766112298547_1766112368487_q7eonohy3", + "width": 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"action_description": "关键帧 12/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 322, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 10.734931522293815 + }, + { + "action_description": "关键帧 13/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 352, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 11.735069002706185 + }, + { + "time": 12.279261455283505, + "frame": 368, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 14/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 393, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 13.088196182087628 + }, + { + "time": 13.767333, + "frame": 413, + "progress": 10, + 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"state_description": "", + "time": 3.967087628865979 + }, + { + "action_description": "关键帧 17/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 205, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.824819587628865 + }, + { + "action_description": "关键帧 18/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 354, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 11.809974226804124 + }, + { + "time": 13.7984, + "frame": 414, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 23/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 462, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 15.4 + } + ], + "tags": [], + 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+} \ No newline at end of file diff --git a/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-112529-bad-rubbish/annotations/chunk-000/observation.images.front/episode_000011.json b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-112529-bad-rubbish/annotations/chunk-000/observation.images.front/episode_000011.json new file mode 100644 index 0000000000000000000000000000000000000000..472c0735068e36c1bc91e20ba26d569968df87f5 --- /dev/null +++ b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-112529-bad-rubbish/annotations/chunk-000/observation.images.front/episode_000011.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓起垃圾，把它放进垃圾桶里：\n开始移动:0%\n爪夹靠近垃圾:20%\n爪夹碰触垃圾品:30%\n爪夹抓取垃圾:40%\n爪夹抓住垃圾接近垃圾桶:60%\n爪夹松开，垃圾品准备掉入垃圾桶:80%\n爪夹松开,垃圾安稳落入垃圾桶:100%", + "progress_points": [ + { + "action_description": "关键帧 1/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 56, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.8715892756443298 + }, + { + "action_description": "关键帧 12/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 83, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.7809363199742267 + }, + { + "action_description": "关键帧 13/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 111, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 3.708290236469072 + }, + { + "time": 4.995466, + "frame": 150, + "progress": -20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 15/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 183, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 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"", + "time": 18.233333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-143602-bad-bottles-delivery-box/annotations/chunk-000/observation.images.front/episode_000005.json b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-143602-bad-bottles-delivery-box/annotations/chunk-000/observation.images.front/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..0d2021c0697d50b055982630ec73829d212f5b21 --- /dev/null +++ b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-143602-bad-bottles-delivery-box/annotations/chunk-000/observation.images.front/episode_000005.json @@ -0,0 +1,118 @@ +{ + "task_description": "把饮料瓶放进快递箱里：\n爪夹靠近饮料瓶:20%\n爪夹碰触饮料瓶:30%\n爪夹抓取饮料瓶:40%\n爪夹抓住饮料瓶接近快递箱:60%\n爪夹松开，饮料瓶准备掉入快递箱:80%\n爪夹松开,饮料瓶安稳落入快递箱:100%", + "progress_points": [ + { + "action_description": "关键帧 1/18 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b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-145601-good-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..d2f42382621cb2e60c25e97546875adbf7a0de85 --- /dev/null +++ b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-145601-good-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,108 @@ +{ + "task_description": "请将饮料瓶放入白色托盘中：\n爪夹靠近饮料瓶:20%\n爪夹碰触饮料瓶:30%\n爪夹抓取饮料瓶:40%\n爪夹抓住饮料瓶接近白色托盘:60%\n爪夹松开，饮料瓶准备掉入白色托盘:80%\n爪夹松开,饮料瓶安稳落入白色托盘:100%", + "progress_points": [ + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 74, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.4687500625 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 103, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.4324957913659797 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 137, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.582 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 147, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.912049093427835 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 160, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.346413365592784 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 246, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.196928901675259 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 268, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 8.943492494458763 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 292, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 9.744351621262886 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 325, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 10.843836185180413 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 395, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 13.166667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-145601-good-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000006.json b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-145601-good-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..248accc621695964bd46496e828b8626ecc5a37a --- /dev/null +++ b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-145601-good-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000006.json @@ -0,0 +1,98 @@ +{ + "task_description": "请将饮料瓶放入白色托盘中：\n爪夹靠近饮料瓶:20%\n爪夹碰触饮料瓶:30%\n爪夹抓取饮料瓶:40%\n爪夹抓住饮料瓶接近白色托盘:60%\n爪夹松开，饮料瓶准备掉入白色托盘:80%\n爪夹松开,饮料瓶安稳落入白色托盘:100%", + "progress_points": [ + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", 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186, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.188792783891753 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 210, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 7.007555647809279 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 227, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.565803055025773 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 270, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 9.000933 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 305, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.15855212409794 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-145601-good-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000008.json b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-145601-good-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..3727eab3ca46c3b4158eb12a815981f1e5054c51 --- /dev/null +++ b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-145601-good-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,108 @@ +{ + "task_description": "请将饮料瓶放入白色托盘中：\n爪夹靠近饮料瓶:20%\n爪夹碰触饮料瓶:30%\n爪夹抓取饮料瓶:40%\n爪夹抓住饮料瓶接近白色托盘:60%\n爪夹松开，饮料瓶准备掉入白色托盘:80%\n爪夹松开,饮料瓶安稳落入白色托盘:100%", + "progress_points": [ + { + "action_description": "关键帧 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"progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.3212627261597945 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 248, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.257413879768041 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 272, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 9.056245474613402 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 288, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 9.587333 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 311, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 10.383118293170103 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 384, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.793152596262887 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-145601-good-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000009.json b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-145601-good-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..72500e6e0ec095b0d46bdae8cd32ae42989e8b51 --- /dev/null +++ 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"progress_explanation": "当前爪夹已成功让塑料瓶落入白色托盘里，因此任务进度为100%。", + "state_description": "爪夹当前为张开的状态，爪夹在塑料瓶的上方，爪夹已完成把塑料瓶放进白色托盘里的任务。", + "time": 11.314011134825432 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766558652670", + "name": "塑料瓶" + }, + { + "color": "#FF9800", + "id": "bbox_1766558659406", + "name": "白色托盘" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766558666862", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766558672869", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-150627-bad-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-150627-bad-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..6ce7ea1b1cd3293d22307e25e42ff3a70b7100d2 --- /dev/null +++ b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-150627-bad-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,316 @@ +{ + "task_description": "把饮料瓶夹起来放进白色托盘里\n爪夹准备开始移动：0%\n爪夹靠近饮料瓶：20%\n爪夹夹起饮料瓶：40%\n爪夹移动饮料瓶：60%\n爪夹将饮料瓶移动到白色托盘上方：80%\n爪夹松开，饮料瓶落入白色托盘上：100%\n", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "annotations": { + "bbox_1766565335910": { + "instances": [ + { + "height": 0.6577064574742837, + "id": "bbox_1766565335910_1766565387228_pruu9qhfz", + "width": 0.44170968776491526, + "x": 0.5560609267294365, + "y": 0.3012208937732032 + } + ], + "type": "bbox" + }, + "bbox_1766565341397": { + "instances": [ + { + "height": 0.18086927580542803, + "id": "bbox_1766565341397_1766565408702_fmy6eq7ym", + "width": 0.2309446590852095, + "x": 0.33969044515931307, + "y": 0.4940484688054364 + } + ], + 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"error_success_analysis": "爪夹调整正确，成功开始移动。", + "correction_plan": "调整夹爪角度，向爪夹前方移动至饮料瓶边缘后下降，抓取饮料瓶后竖直上升，向爪夹右前方移动至白色托盘上方，下降放入饮料瓶后松开爪夹。" + }, + { + "action_description": "爪夹张开，正在下降靠近至饮料瓶的边缘", + "annotations": { + "bbox_1766565335910": { + "instances": [ + { + "height": 0.6532220952642317, + "id": "bbox_1766565335910_1766565432060_4eaiv07qj", + "width": 0.4428307783429989, + "x": 0.5504554738390188, + "y": 0.2997261063698526 + } + ], + "type": "bbox" + }, + "bbox_1766565341397": { + "instances": [ + { + "height": 0.18535363801547997, + "id": "bbox_1766565341397_1766565438028_2uyg9ax67", + "width": 0.2410344742879614, + "x": 0.33184281111272823, + "y": 0.48956410659538446 + } + ], + "type": "bbox" + }, + "point_1766565346797": { + "instances": [ + { + "id": "point_1766565346797_1766565440637_mnwy6gmj1", + "x": 0.4405885971868318, + "y": 0.5598191145528647 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续下降，抓取饮料瓶后竖直上升，向爪夹左前方移动至白色托盘上方，下降放入饮料后松开爪夹。", + "error_success_analysis": 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a/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-150627-bad-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-150627-bad-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..096f76412c3636f56322c09a0141c187778b1517 --- /dev/null +++ b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-150627-bad-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,128 @@ +{ + "task_description": "请将饮料瓶放入白色托盘中：\n爪夹靠近饮料瓶:20%\n爪夹碰触饮料瓶:30%\n爪夹抓取饮料瓶:40%\n爪夹抓住饮料瓶接近白色托盘:60%\n爪夹松开，饮料瓶准备掉入白色托盘:80%\n爪夹松开,饮料瓶安稳落入白色托盘:100%", + "progress_points": [ + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 67, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.2232044230670103 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 109, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.647866 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 151, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.036733 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 178, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.932139057087629 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 204, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.810466 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 296, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 9.865334855025772 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 320, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 10.659133 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 351, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 11.713333 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 372, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 12.416133 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 389, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 12.968333 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 476, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 15.85138284574742 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 502, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 16.733333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-150627-bad-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000006.json b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-150627-bad-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..2fde90d4ca78d43d12e334534b99ab980db542c5 --- /dev/null +++ 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4.709466 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 169, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.633333 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 249, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.314799 + }, + { + "action_description": "关键帧 14/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 267, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 8.894278218943299 + }, + { + "action_description": "关键帧 15/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 296, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 9.869948307603094 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 325, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 10.838533 + }, + { + "action_description": "关键帧 16/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 357, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 11.914209445747423 + }, + { + "action_description": "关键帧 17/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 411, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 13.70293794162371 + }, + { + "action_description": "关键帧 18/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 477, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 15.909810761211341 + }, + { + "action_description": "关键帧 19/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 517, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 17.233934452963915 + }, + { + "action_description": "关键帧 20/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 538, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 17.930841659149483 + }, + { + "action_description": "关键帧 21/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 553, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 18.441906943685566 + }, + { + "action_description": "关键帧 22/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 599, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 19.951872557087626 + }, + { + "action_description": "关键帧 23/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 676, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 22.533333 + }, + { + "action_description": "关键帧 24/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 676, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 22.533333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-150627-bad-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000008.json b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-150627-bad-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..8b4bc34519d768df9d2c55b87a18b7860f961ec8 --- /dev/null +++ b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-150627-bad-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,118 @@ +{ + "task_description": "请将饮料瓶放入白色托盘中：\n开始移动:0%\n爪夹靠近饮料瓶:20%\n爪夹碰触饮料瓶:30%\n爪夹抓取饮料瓶:40%\n爪夹抓住饮料瓶接近白色托盘:60%\n爪夹松开，饮料瓶准备掉入白色托盘:80%\n爪夹松开,饮料瓶安稳落入白色托盘:100%", + "progress_points": [ + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 52, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.7369416202319587 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.065464009922681 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 194, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.469587775902061 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 209, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.953436584149484 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 255, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.495704660438145 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 269, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 8.979553468685568 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 302, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 10.053093011984537 + }, + { + "time": 11.30807585837629, + "frame": 339, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 351, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 11.70120301507732 + }, + { + "time": 12.1, + "frame": 363, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 440, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 14.666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-152118-good-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-152118-good-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..fbf3a4043b4e6cae273fcbf018d40d5f41ba3155 --- /dev/null +++ b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-152118-good-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,108 @@ +{ + "task_description": "请将饮料瓶放入透明塑料圆碗中：\n开始移动:0%\n爪夹靠近饮料瓶:20%\n爪夹碰触饮料瓶:30%\n爪夹抓取饮料瓶:40%\n爪夹抓住饮料瓶接近透明塑料圆碗:60%\n爪夹松开，饮料瓶准备掉入透明塑料圆碗:80%\n爪夹松开,饮料瓶安稳落入透明塑料圆碗:100%", + "progress_points": [ + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 105, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 3.501842691108248 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 134, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.4656227344072175 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 171, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.689883870489691 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 175, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.849233 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 183, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.106653618943299 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 214, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.1355539354381445 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 240, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 8.008165596262886 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 253, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 8.43795939935567 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 271, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 9.037065912757733 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 312, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.391567595231958 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-152118-good-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000005.json b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-152118-good-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..be027600e928883a17a0cfaa09406773416ae6de --- /dev/null +++ b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-152118-good-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000005.json @@ -0,0 +1,98 @@ +{ + "task_description": "请将饮料瓶放入透明塑料圆碗中：\n开始移动:0%\n爪夹靠近饮料瓶:20%\n爪夹碰触饮料瓶:30%\n爪夹抓取饮料瓶:40%\n爪夹抓住饮料瓶接近透明塑料圆碗:60%\n爪夹松开，饮料瓶准备掉入透明塑料圆碗:80%\n爪夹松开,饮料瓶安稳落入透明塑料圆碗:100%", + "progress_points": [ + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 82, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.735214852190722 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 110, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.655764705798969 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.941881552190722 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 154, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.1485482521907215 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 179, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.9695792027061865 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 216, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 7.188685765592784 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 254, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 8.482431505798967 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 280, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 9.32834218208763 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 341, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.368479695489691 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-152118-good-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-152118-good-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..c4bfc640049ef939e59c4fe7b8c5d5c9254a0163 --- /dev/null +++ b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-152118-good-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000007.json @@ -0,0 +1,438 @@ +{ + "task_description": "把塑料瓶放进塑料盆里\n爪夹开始移动：0\n爪夹接近塑料瓶：20%\n爪夹夹起塑料瓶：40%\n爪夹夹紧塑料瓶接近塑料盆：60%\n爪夹夹起塑料瓶放入塑料盆：80%\n爪夹松开，塑料瓶落入塑料盆：100%", + "progress_points": [ + { + "action_description": "爪夹保持初始状态，准备移动。", + "annotations": { + "bbox_1766562237802": { + "instances": [ + { + "height": 0.268033746283157, + "id": "bbox_1766562237802_1766562460254_5wmjeva9c", + "width": 0.15673004377920244, + "x": 0.7206174319084921, + "y": 0.3549491071085067 + } + ], + "type": "bbox" + }, + "bbox_1766562244058": { + "instances": [ + { + "height": 0.35662117090216655, + "id": "bbox_1766562244058_1766562474517_e9vjpds2i", + "width": 0.3867143471508581, + "x": 0.19931967759940575, + "y": 0.6161684361132783 + } + ], + "type": "bbox" + }, + "point_1766562253683": { + "instances": [ + { + "id": "point_1766562253683_1766562451239_iupcnwhdd", + "x": 0.4429326804301225, + "y": 0.3526776346823783 + } + ], + "type": "point" + }, + "point_1766562260331": { + "instances": [ + { + "id": "point_1766562260331_1766562448263_mvnfkgtbf", + "x": 0.5417407515083154, + "y": 0.361763524386892 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹竖直上升，随后调整角度垂直于桌面，爪夹向爪夹的左前方移动，接近瓶子；爪夹下降至塑料瓶两侧，爪夹合拢，抓取塑料瓶，爪夹夹紧塑料瓶向爪夹的右侧移动，接近塑料盆；然后爪夹下降把塑料瓶放进塑料盆里，爪夹松开，塑料瓶落入塑料盆里。", + "error_success_analysis": "", + "frame": 24, + "progress": 0, + "progress_explanation": "当前爪夹没有任何动作，因此任务进度为0.", + "state_description": "爪夹与桌面平行，没有移动，没有接近塑料瓶，为完成把塑料瓶放进塑料盆里的任务，应当：爪夹竖直上升，随后调整角度垂直于桌面，爪夹向爪夹的左前方移动，接近瓶子。", + "time": 0.7940110150544487 + }, + { + "action_description": "爪夹竖直上升，随后调整角度垂直于桌面，爪夹向爪夹的左前方移动，接近瓶子，方便抓取瓶子。", + "annotations": { + "bbox_1766562237802": { + "instances": [ + { + "height": 0.268033746283157, + "id": "bbox_1766562237802_1766562431616_6pkzpotms", + "width": 0.1618408060763504, + "x": 0.7189138444761094, + "y": 0.35722057953463515 + } + ], + "type": "bbox" + }, + "bbox_1766562244058": { + "instances": [ + { + "height": 0.37025000545893716, + "id": "bbox_1766562244058_1766562420935_2ibx4vbeq", + "width": 0.38160358485371026, + "x": 0.20613402732893626, + "y": 0.6229828533916637 + } + ], + "type": "bbox" + }, + "point_1766562253683": { + "instances": [ + { + "id": "point_1766562253683_1766562441351_hm4ss6z8m", + "x": 0.7257281942056399, + "y": 0.47533714569331453 + } + ], + "type": "point" + }, + "point_1766562260331": { + "instances": [ + { + "id": "point_1766562260331_1766562443535_sv7fyntjs", + "x": 0.795575278933328, + "y": 0.407192972909461 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的前方移动并下降至塑料瓶两侧，爪夹合拢，抓取塑料瓶，爪夹夹紧塑料瓶向爪夹的右侧移动，接近塑料盆；然后爪夹下降把塑料瓶放进塑料盆里，爪夹松开，塑料瓶落入塑料盆里。", + "error_success_analysis": "爪夹调整角度垂直于桌面，爪夹向爪夹的左前方移动，接近瓶子。", + "frame": 104, + "progress": 20, + "progress_explanation": "当前爪夹接近塑料瓶，开始抓取，因此任务进度提升为20%。", + "state_description": "当前爪夹为张开状态，接近瓶子，为完成把塑料瓶放进塑料盆里的任务，应当：爪夹向爪夹的前方移动，爪夹合拢抓取瓶子。", + "time": 3.451 + }, + { + "action_description": "爪夹向爪夹的正前方移动，爪夹移动的过程碰倒了塑料瓶，爪夹合拢。", + "annotations": { + "bbox_1766562237802": { + "instances": [ + { + "height": 0.2907484705444414, + "id": "bbox_1766562237802_1766562400759_q277ubul9", + "width": 0.23509506566880364, + "x": 0.7478748308266143, + "y": 0.5661960427384525 + } + ], + "type": "bbox" + }, + "bbox_1766562244058": { + "instances": [ + { + "height": 0.34753528119765265, + "id": "bbox_1766562244058_1766562411351_tj7rui3la", + "width": 0.3833071722860929, + "x": 0.20443043989655366, + "y": 0.6252543258177922 + } + ], + "type": "bbox" + }, + "point_1766562253683": { + "instances": [ + { + "id": 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"bbox", + "instances": [ + { + "id": "bbox_1766562237802_1767084901541_q5x1oqsei", + "x": 0.7495784182589968, + "y": 0.5593816254600672, + "width": 0.23168789080403834, + "height": 0.2930199429705699 + } + ] + }, + "bbox_1766562244058": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766562244058_1767084910477_eiriu6fth", + "x": 0.1976160901670231, + "y": 0.6297972706700491, + "width": 0.38841793458324075, + "height": 0.3270920293624967 + } + ] + }, + "point_1766562253683": { + "type": "point", + "instances": [ + { + "id": "point_1766562253683_1767084918702_psjoyslg7", + "x": 0.8347577898781287, + "y": 0.6684123019142326 + } + ] + }, + "point_1766562260331": { + "type": "point", + "instances": [ + { + "id": "point_1766562260331_1767084920989_j5hoimtq0", + "x": 0.8739403008229292, + "y": 0.5911822394258655 + } + ] + } + } + }, + { + "action_description": "爪夹下降至塑料瓶的两侧，爪夹开始合拢并抓取塑料瓶，爪夹轻微抬升。", + "annotations": { + "bbox_1766562237802": { + "instances": [ + { + "height": 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"state_description": "当前爪夹为合拢抓紧塑料瓶的状态，为完成把塑料瓶放进塑料盆里的任务，应当：爪夹继续下降把塑料瓶放入塑料盆里。", + "time": 12.582034536321599 + }, + { + "action_description": "爪夹夹紧塑料瓶下降，把塑料瓶放入塑料盆里。", + "annotations": { + "bbox_1766562237802": { + "instances": [ + { + "height": 0.2816625808399277, + "id": "bbox_1766562237802_1766562318626_fbjzse162", + "width": 0.1908017924268551, + "x": 0.32538514759572074, + "y": 0.6593264122097189 + } + ], + "type": "bbox" + }, + "bbox_1766562244058": { + "instances": [ + { + "height": 0.37933589516345106, + "id": "bbox_1766562244058_1766562334707_9xr4oytrv", + "width": 0.39523228431277135, + "x": 0.19420891530225784, + "y": 0.6093540188348929 + } + ], + "type": "bbox" + }, + "point_1766562253683": { + "instances": [ + { + "id": "point_1766562253683_1766562308785_x73nytv7x", + "x": 0.3611604836757561, + "y": 0.8274153717432241 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹松开，塑料瓶落入塑料盆里。", + "error_success_analysis": "爪夹下降，塑料瓶成功放入塑料盆里。", + "frame": 440, + "progress": 80, + "progress_explanation": "塑料瓶成功放入塑料盆里，因此任务进度提升为80%。", + "state_description": "当前爪夹为合拢抓紧塑料瓶的状态，为完成把塑料瓶放进塑料盆里的任务，应当：爪夹松开，使瓶子落入塑料盆里。", + "time": 14.658681167011148 + }, + { + "action_description": "爪夹松开，瓶子落入塑料瓶里，爪夹向爪夹的正后方移动。", + "annotations": { + "bbox_1766562237802": { + "instances": [ + { + "height": 0.13401687314157845, + "id": "bbox_1766562237802_1766737317896_vsdl9854h", + "width": 0.0988080710781929, + "x": 0.31686721043380756, + "y": 0.8047006474819397 + } + ], + "type": "bbox" + }, + "bbox_1766562244058": { + "instances": [ + { + "height": 0.32254908451023984, + "id": "bbox_1766562244058_1766737312777_jgga7ra1z", + "width": 0.3833071722860929, + "x": 0.20443043989655366, + "y": 0.6320687430961774 + } + ], + "type": "bbox" + }, + "point_1766562253683": { + "instances": [ + { + "id": "point_1766562253683_1766737306000_13d4mzgq7", + "x": 0.3339030847576339, + "y": 0.8024291750558112 + } + ], + "type": "point" + }, + "point_1766562260331": { + "instances": [ + { + "id": 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b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-154912-bad-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..73cd545f34f651036f0fffaf891d6c631e3df915 --- /dev/null +++ b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-154912-bad-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,128 @@ +{ + "task_description": "请将饮料瓶放入透明塑料圆碗中：\n开始移动:0%\n爪夹靠近饮料瓶:20%\n爪夹碰触饮料瓶:30%\n爪夹抓取饮料瓶:40%\n爪夹抓住饮料瓶接近透明塑料圆碗:60%\n爪夹松开，饮料瓶准备掉入透明塑料圆碗:80%\n爪夹松开,饮料瓶安稳落入透明塑料圆碗:100%", + "progress_points": [ + { + "action_description": "关键帧 1/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 70, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.3403179047680416 + }, + { + "action_description": "关键帧 3/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 107, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.568771531572165 + }, + { + "action_description": "关键帧 2/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 142, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.728977734664948 + }, + { + "action_description": "关键帧 4/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 184, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.116675350128866 + }, + { + "action_description": "关键帧 23/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 272, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 9.051314569716494 + }, + { + "action_description": "关键帧 24/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 323, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 10.780249303737113 + }, + { + "action_description": "关键帧 25/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 375, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 12.486434896520617 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 418, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 13.942379935695875 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 465, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 15.512070681056697 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 546, + "progress": 15, + "progress_explanation": "", + "state_description": 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"progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.8932603604381444 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 201, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.6968 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 229, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 7.635366 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 291, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 9.690066 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 361, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 12.026284522293814 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 575, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 19.151833 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 607, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 20.217233 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 634, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 21.130433 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 658, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 21.9168 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 686, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 22.880733 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 721, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 24.0476 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 761, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 25.366667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-154912-bad-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-154912-bad-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..605a8b1fb9ea7604ea872525cc05d50812eadd0a --- /dev/null +++ b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-154912-bad-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,118 @@ +{ + "task_description": "请将饮料瓶放入透明塑料圆碗中：\n开始移动:0%\n爪夹靠近饮料瓶:20%\n爪夹碰触饮料瓶:30%\n爪夹抓取饮料瓶:40%\n爪夹抓住饮料瓶接近透明塑料圆碗:60%\n爪夹松开，饮料瓶准备掉入透明塑料圆碗:80%\n爪夹松开,饮料瓶安稳落入透明塑料圆碗:100%", + "progress_points": [ + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 76, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.545333 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 99, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.311999 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 115, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 3.817999 + }, + { + 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"correction_plan": "" + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 382, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 12.723109689046392 + }, + { + "time": 13.908676673582473, + "frame": 417, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 460, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 15.333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-154912-bad-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000004.json b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-154912-bad-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..736c4fe94f0388a176f03efaed275113fb5c9c45 --- /dev/null +++ b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-154912-bad-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,118 @@ +{ + "task_description": "请将饮料瓶放入透明塑料圆碗中：\n开始移动:0%\n爪夹靠近饮料瓶:20%\n爪夹碰触饮料瓶:30%\n爪夹抓取饮料瓶:40%\n爪夹抓住饮料瓶接近透明塑料圆碗:60%\n爪夹松开，饮料瓶准备掉入透明塑料圆碗:80%\n爪夹松开,饮料瓶安稳落入透明塑料圆碗:100%", + "progress_points": [ + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 64, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.137160707860825 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 93, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.099634959407216 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 127, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.235889284149485 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 160, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.332040515077319 + }, + { + "time": 5.588633, + "frame": 168, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 205, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.842590382087629 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 247, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 8.246198665592782 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 294, + "progress": -15, + "progress_explanation": "", + "state_description": "", + "time": 9.81021932435567 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 327, + "progress": -20, + "progress_explanation": "", + "state_description": "", + "time": 10.89300285734536 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 360, + "progress": -30, + "progress_explanation": "", + "state_description": "", + "time": 11.989154088273196 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 389, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 12.96499603775773 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-154912-bad-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000005.json b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-154912-bad-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..cca1422862f0bd78650459407871fb13f48e3653 --- /dev/null +++ b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-154912-bad-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000005.json @@ -0,0 +1,118 @@ +{ + "task_description": "请将饮料瓶放入透明塑料圆碗中：\n开始移动:0%\n爪夹靠近饮料瓶:20%\n爪夹碰触饮料瓶:30%\n爪夹抓取饮料瓶:40%\n爪夹抓住饮料瓶接近透明塑料圆碗:60%\n爪夹松开，饮料瓶准备掉入透明塑料圆碗:80%\n爪夹松开,饮料瓶安稳落入透明塑料圆碗:100%", + "progress_points": [ + { + "action_description": "关键帧 3/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 48, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.6125644329896907 + }, + { + "action_description": "关键帧 7/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 81, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.6888530927835053 + }, + { + "action_description": "关键帧 8/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 135, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 4.512564432989691 + }, + { + "action_description": "关键帧 12/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 170, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.67854381443299 + }, + { + "action_description": "关键帧 13/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 196, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.530605670103093 + }, + { + "action_description": "关键帧 14/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 235, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 7.8460695876288655 + }, + { + "action_description": "关键帧 15/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 255, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 8.503801546391752 + }, + { + "action_description": "关键帧 16/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 288, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 9.595038659793815 + }, + { + "time": 10.44, + "frame": 313, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 17/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 365, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 12.18112113402062 + }, + { + "action_description": "关键帧 19/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 434, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 14.466666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-154912-bad-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000008.json b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-154912-bad-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..db0c0aefbd2cc72ea5d0a74486e4eff6a039be65 --- /dev/null +++ b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-154912-bad-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,448 @@ +{ + "task_description": "把塑料瓶放进塑料盆里\n爪夹开始移动：0\n爪夹接近塑料瓶：20%\n爪夹夹起塑料瓶：40%\n爪夹夹紧塑料瓶接近塑料盆：60%\n爪夹夹起塑料瓶放入塑料盆：80%\n爪夹松开，塑料瓶落入塑料盆：100%", + "progress_points": [ + { + "action_description": "爪夹保持张开，准备移动。", + "annotations": { + "bbox_1766569663728": { + "instances": [ + { + "height": 0.1998895734993035, + "id": "bbox_1766569663728_1766569875036_lw43xby2o", + "width": 0.2299843033716557, + "x": 0.16524792895175305, + "y": 0.3549491071085067 + } + ], + "type": "bbox" + }, + "bbox_1766569671241": { + "instances": [ + { + "height": 0.32482055693636813, + "id": "bbox_1766569671241_1766569867246_cb0j5j0l7", + "width": 0.3850107597184756, + "x": 0.20613402732893626, + "y": 0.6252543258177922 + } + ], + "type": "bbox" + }, + "point_1766569679681": { + "instances": [ + { + "id": "point_1766569679681_1766569860140_cnggcagr6", + "x": 0.4224896312415309, + "y": 0.38220677622204813 + } + ], + "type": "point" + }, + "point_1766569686337": { + "instances": [ + { + "id": "point_1766569686337_1766569857043_vi449kxvb", + "x": 0.5247048771844891, + "y": 0.38220677622204813 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹竖直上升，调整角度与桌面垂直，爪夹向爪夹的右前方移动，接近瓶子；爪夹下降至瓶子两侧，爪夹开始合拢抓取瓶子，爪夹夹紧瓶子竖直上升，随后向爪夹的左前方移动，接近塑料盆；然后爪夹向爪夹的左前方移动至塑料盆的上方，爪夹下降至塑料盆内部，爪夹松开，瓶子落入塑料盆里。", + "error_success_analysis": "", + "frame": 73, + "progress": 0, + "progress_explanation": "当前爪夹没有动作，没有接近瓶子，因此任务进度为0.", + "state_description": "当前爪夹张开，没有移动，没有接触瓶子，为完成把塑料瓶放进塑料盆里的任务，应当：爪夹竖直上升，调整角度与桌面垂直，爪夹向爪夹的右前方移动，接近瓶子。", + "time": 2.4279032809447956 + }, + { + "time": 3.692333, + "frame": 111, + "progress": 10, + "action_description": "爪夹竖直上升，调整角度向下倾斜，轻微向正前方移动。", + "state_description": "爪夹为张开状态，没有完全接近塑料瓶，为完成把塑料瓶放进塑料盆里的任务，应当：爪夹调整角度与桌面接近垂直，然后爪夹向爪夹的右前方移动，接近瓶子。", + "progress_explanation": "爪夹轻微向正前方移动，开始接近塑料瓶，因此任务进度提升为10%。", + "error_success_analysis": "爪夹轻微向正前方移动，开始接近塑料瓶，方便住区塑料瓶。", + "correction_plan": "爪夹调整角度与桌面接近垂直，然后爪夹向爪夹的右前方移动，接近瓶子。爪夹下降至瓶子两侧，爪夹开始合拢抓取瓶子，爪夹夹紧瓶子竖直上升，随后向爪夹的左前方移动，接近塑料盆；然后爪夹向爪夹的左前方移动至塑料盆的上方，爪夹下降至塑料盆内部，爪夹松开，瓶子落入塑料盆里。", + "annotations": { + "bbox_1766569671241": { + "type": "bbox", + "instances": [ + { + "id": 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a/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-154912-bad-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000010.json b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-154912-bad-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000010.json new file mode 100644 index 0000000000000000000000000000000000000000..0c952482eeda40566f8deea1c66629c8cd04efe9 --- /dev/null +++ b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-154912-bad-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000010.json @@ -0,0 +1,128 @@ +{ + "task_description": "请将饮料瓶放入透明塑料圆碗中：\n开始移动:0%\n爪夹靠近饮料瓶:20%\n爪夹碰触饮料瓶:30%\n爪夹抓取饮料瓶:40%\n爪夹抓住饮料瓶接近透明塑料圆碗:60%\n爪夹松开，饮料瓶准备掉入透明塑料圆碗:80%\n爪夹松开,饮料瓶安稳落入透明塑料圆碗:100%", + "progress_points": [ + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 75, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.4876159793814434 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 109, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.6494716494845365 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 146, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 4.861121134020618 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 159, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.3092654639175265 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 187, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.222152061855671 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 238, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 7.931739690721651 + }, + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 252, + "progress": -50, + "progress_explanation": "", + "state_description": "", + "time": 8.413079896907218 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 337, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 11.2378 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 361, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 12.0428 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 403, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 13.425657216494846 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 455, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 15.1501 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 483, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 16.09792525773196 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-161507-good-bottles-rice cooker/annotations/chunk-000/observation.images.front/episode_000010.json b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-161507-good-bottles-rice cooker/annotations/chunk-000/observation.images.front/episode_000010.json new file mode 100644 index 0000000000000000000000000000000000000000..abe247f5e6a4cef4fd22e23b476f255141e54eac --- /dev/null +++ b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251125-161507-good-bottles-rice cooker/annotations/chunk-000/observation.images.front/episode_000010.json @@ -0,0 +1,118 @@ +{ + "task_description": "请将饮料瓶放入电饭煲内胆中：\n开始移动:0%\n爪夹靠近饮料瓶:20%\n爪夹碰触饮料瓶:30%\n爪夹抓取饮料瓶:40%\n爪夹抓住饮料瓶接近电饭煲内胆:60%\n爪夹松开，饮料瓶准备掉入电饭煲内胆:80%\n爪夹松开,饮料瓶安稳落入电饭煲内胆:100%", + "progress_points": [ + { + "action_description": "关键帧 2/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 92, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 3.0814690024484537 + }, + { + "action_description": "关键帧 3/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 109, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.6434621168814436 + }, + { + "action_description": "关键帧 4/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 127, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.220644234407216 + }, + { + "action_description": "关键帧 7/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 139, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 4.6307473179123715 + }, + { + "action_description": "关键帧 5/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 156, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.192740432345362 + }, + { + "action_description": "关键帧 6/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 165, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 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cooker/annotations/chunk-000/observation.images.front/episode_000005.json @@ -0,0 +1,448 @@ +{ + "task_description": "把塑料瓶放进电饭锅内胆里\n爪夹开始移动：0\n爪夹接近塑料瓶：20%\n爪夹夹起塑料瓶：40%\n爪夹夹紧塑料瓶接近电饭锅内胆：60%\n爪夹夹起塑料瓶放入电饭锅内胆：80%\n爪夹松开，塑料瓶落入电饭锅内胆：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1766628368260": { + "instances": [ + { + "height": 0.27484816356154235, + "id": "bbox_1766628368260_1766628674517_h04va0h7y", + "width": 0.22146636620974247, + "x": 0.6218093608302993, + "y": 0.6956699710277741 + } + ], + "type": "bbox" + }, + "bbox_1766628376634": { + "instances": [ + { + "height": 0.3225490845102398, + "id": "bbox_1766628376634_1766628657461_s5jito5pt", + "width": 0.23850224053356897, + "x": 0.2419093634089716, + "y": 0.4276362247446171 + } + ], + "type": "bbox" + }, + "point_1766628386858": { + "instances": [ + { + "id": "point_1766628386858_1766628650718_79qjp9gi3", + "x": 0.40375016948532194, + "y": 0.35722057953463515 + } + ], + "type": "point" + 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"bbox_1766220074317", + "name": "塑料盆" + }, + { + "color": "#FF9800", + "id": "bbox_1766220074477", + "name": "黄色方块" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766220075436", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766220075565", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251126-144102-bad-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000004.json b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251126-144102-bad-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..b2981626af3dd9c0ed71a0582ba6036b4872727b --- /dev/null +++ b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251126-144102-bad-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,118 @@ +{ + "task_description": "请将黄色方块放入透明塑料圆碗中：\n开始移动:0%\n爪夹靠近黄色方块:20%\n爪夹碰触黄色方块:30%\n爪夹抓取黄色方块:40%\n爪夹抓住黄色方块接近透明塑料圆碗:60%\n爪夹松开，黄色方块准备掉入透明塑料圆碗:80%\n爪夹松开，黄色方块安稳落入透明塑料圆碗:100%", + "progress_points": [ + { + "action_description": "关键帧 1/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 62, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.0568771954896907 + }, + { + "action_description": "关键帧 2/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 104, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.4787328985824737 + }, + { + "time": 5.100166, + "frame": 153, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 3/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 182, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 6.055846360438144 + }, + { + "action_description": "关键帧 4/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 188, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.263200317139176 + }, + { + "action_description": "关键帧 6/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 239, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.981275958376289 + }, + { + "action_description": "关键帧 7/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 264, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 8.810691785180413 + }, + { + "action_description": "关键帧 8/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 293, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 9.758595587242269 + }, + { + "action_description": "关键帧 9/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 321, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 10.691688392396907 + }, + { + "action_description": "关键帧 10/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 366, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 12.187599080025773 + }, + { + "action_description": "关键帧 11/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 379, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.646739984149484 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251126-145413-mix-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251126-145413-mix-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..46d0118b0e358dfeb1cb28199d2c6a1fc0fd1b4d --- /dev/null +++ b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251126-145413-mix-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,148 @@ +{ + "task_description": "请将黄色方块放入透明塑料圆碗中：\n开始移动:0%\n爪夹靠近黄色方块:20%\n爪夹抓取黄色方块:40%\n爪夹抓住黄色方块接近透明塑料圆碗:60%\n爪夹松开，黄色方块准备掉入透明塑料圆碗:80%\n爪夹松开，黄色方块安稳落入透明塑料圆碗:100%", + "progress_points": [ + { + "action_description": "关键帧 4/40 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 51, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.704548969072165 + }, + { + "action_description": "关键帧 5/40 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 99, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.3050644329896905 + }, + { + "action_description": "关键帧 6/40 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 142, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.73485824742268 + }, + { + "action_description": "关键帧 7/40 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 184, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 6.121971649484536 + }, + { + "action_description": "关键帧 8/40 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 243, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.0852706185567 + }, + { + "action_description": "关键帧 10/40 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 310, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 10.347332474226803 + }, + { + "action_description": "关键帧 11/40 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 344, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 11.457023195876289 + }, + { + "action_description": "关键帧 12/40 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 383, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 12.780115979381444 + }, + { + "action_description": "关键帧 13/40 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 424, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 14.124548969072162 + }, + { + "action_description": "关键帧 14/40 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 483, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 16.109188144329895 + }, + { + "action_description": "关键帧 15/40 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 499, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 16.64269329896907 + }, + { + "action_description": "关键帧 16/40 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 524, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 17.474961340206185 + }, + { + "action_description": "关键帧 17/40 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 563, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 18.755373711340205 + }, + { + "action_description": "关键帧 18/40 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 579, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 19.28887886597938 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251126-145413-mix-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251126-145413-mix-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..876de64ac16eec01b18f7803f00be5def556123e --- /dev/null +++ b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251126-145413-mix-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,198 @@ +{ + "task_description": "请将黄色方块放入透明塑料圆碗中：\n开始移动:0%\n爪夹靠近黄色方块:20%\n爪夹碰触黄色方块:30%\n爪夹抓取黄色方块:40%\n爪夹抓住黄色方块接近透明塑料圆碗:60%\n爪夹松开，黄色方块准备掉入透明塑料圆碗:80%\n爪夹松开，黄色方块安稳落入透明塑料圆碗:100%", + "progress_points": [ + { + "action_description": "关键帧 2/39 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 39, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.3066795354381444 + }, + { + "action_description": "关键帧 3/39 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 94, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.14547676121134 + }, + { + "action_description": "关键帧 4/39 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 123, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 4.102658878737113 + 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b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251126-151913-good-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..45ce63f7fbd5a335f1bbdcef98df432dafbbae4f --- /dev/null +++ b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251126-151913-good-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取黄色方块使其落入塑料盆中：\n开始移动：0%\n爪夹靠近黄色方块：20%\n爪夹抓取黄色方块：40%\n爪夹抓住黄色方块接近塑料盆：60%\n爪夹将黄色方块放入塑料盆：80%\n爪夹松开，黄色方块落入塑料盆中：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹与桌面水平角度呈60度角，爪夹静止不动。", + "correction_plan": "爪夹向爪夹方向右边移动至黄色方块正上方并调整爪夹与桌面水平角度，使其垂直于桌面，爪夹垂直下降靠近黄色方块，爪夹合拢抓取黄色方块后竖直上升，并且向爪夹方向右前方移动至塑料盆正上方，爪夹垂直下降至塑料盆中，爪夹松开，使黄色方块落入塑料盆中。", + "error_success_analysis": "", + "frame": 107, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹与桌面水平角度呈60度角，爪夹静止不动。因此当前进度为0%。", + "state_description": "当前爪夹张开，爪夹与桌面水平角度呈60度角，爪夹静止不动。为完成抓取黄色方块使其落入塑料盆中的任务应当：爪夹向爪夹方向右边移动并调整爪夹与桌面水平角度，使其垂直于桌面。", + "time": 3.5780712596224595 + }, + { + "time": 5.2864, + "frame": 159, + "progress": 10, + "action_description": "当前爪夹张开爪夹向爪夹方向左边移动至黄色方块正上方并调整爪夹于桌面水平角度，使其垂直于桌面。", + "state_description": "爪夹张开并垂直于桌面，此时爪夹处于黄色方块正上方。", + "progress_explanation": "爪夹张开并垂直于桌面，此时爪夹处于黄色方块正上方。因此当前进度提升至10%。", + "error_success_analysis": "爪夹成功调整爪夹于桌面的水平角度并顺利移动至黄色方块正上方。", + "correction_plan": "爪夹垂直下降靠近黄色方块，爪夹合拢抓取黄色方块后竖直上升，并且向爪夹方向右前方移动至塑料盆正上方，爪夹垂直下降至塑料盆中，爪夹松开，使黄色方块落入塑料盆中。" + }, + { + "time": 6.175287653930183, + "frame": 185, + "progress": 20, + "action_description": "当前爪夹张开并垂直于桌面，爪夹垂直下降靠近黄色方块。", + "state_description": "当前爪夹张开并垂直于桌面，爪夹靠近行色方块准备抓取黄色方块。为完成抓取黄色方块使其落入塑料盆中的任务应当：爪夹向爪夹方向右侧顺时针转动30度，并抓取黄色方块。", + "progress_explanation": "当前爪夹张开并垂直于桌面，爪夹靠近黄色方块准备抓取黄色方块。因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹成功垂直下降并靠近黄色方块。", + "correction_plan": "爪夹向爪夹方向右侧顺时针转动30度，爪夹合拢抓取黄色方块后竖直上升，并且向爪夹方向右前方移动至塑料盆正上方，爪夹垂直下降至塑料盆中，爪夹松开，使黄色方块落入塑料盆中。" + }, + { + "time": 7.241266, + "frame": 217, + "progress": 40, + "action_description": "当前爪夹向爪夹方向右侧旋转30度，并且爪夹合拢抓取黄色方块。", + "state_description": "当前爪夹合拢垂直于桌面并且爪夹抓取黄色方块。为完成抓取黄色方块使其落入塑料盆中的任务应当：爪夹抓取黄色方块竖直上升。", + "progress_explanation": "当前爪夹向爪夹方向右侧旋转30度，并且爪夹合拢抓取黄色方块。因此当前进度提升至40%。", + "error_success_analysis": "爪夹顺利向爪夹右侧旋转30度并且成功抓取黄色方块。", + "correction_plan": "爪夹合拢抓取黄色方块后竖直上升，并且向爪夹方向右前方移动至塑料盆正上方，爪夹垂直下降至塑料盆中，爪夹松开，使黄色方块落入塑料盆中。" + }, + { + "time": 8.989633, + "frame": 270, + "progress": 50, + "action_description": "当前合拢垂直于桌面，爪夹抓取黄色方块竖直上升，此时爪夹于塑料盆水平距离较远。", + "state_description": "当前爪夹合拢垂直于桌面，爪夹夹取黄色方块，此时爪夹于塑料盆水平距离较远。为完成抓取黄色方块使其落入塑料盆中的任务应当：爪夹夹取黄色方块向爪夹方向右边移动至塑料盆正上方。", + "progress_explanation": "当前合拢垂直于桌面，爪夹抓取黄色方块竖直上升，此时爪夹于塑料盆水平距离较远。因此当前进度提升至50%。", + "error_success_analysis": "当前爪夹成功夹取黄色方块并顺利竖直上升。", + "correction_plan": "爪夹向爪夹方向右前方移动至塑料盆正上方，爪夹垂直下降至塑料盆中，爪夹松开，使黄色方块落入塑料盆中。" + }, + { + "time": 10.008366, + "frame": 300, + "progress": 60, + "action_description": "当前爪夹夹取黄色方块向爪夹方向右边移动并接近塑料盆。", + "state_description": "当前爪夹合拢夹取黄色方块，爪夹与桌面水平角度呈80度角，此时爪夹与塑料盆水平距离接近。为完成抓取黄色方块使其落入塑料盆中的任务应当：爪夹继续向爪夹方向右边移动至塑料盆正上方。", + "progress_explanation": "当前爪夹合拢夹取黄色方块，爪夹与桌面水平角度呈80度角，此时爪夹与塑料盆水平距离接近。因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹成功夹取黄色方块向爪夹方向右边移动并顺利接近塑料盆。", + "correction_plan": "爪夹向爪夹方向右前方移动至塑料盆正上方，爪夹垂直下降至塑料盆中，爪夹松开，使黄色方块落入塑料盆中。" + }, + { + "time": 11.7705, + "frame": 353, + "progress": 70, + "action_description": "当前爪夹合拢抓取黄色方块向爪夹方向右边移动至塑料盆正上方。", + "state_description": "当前爪夹与桌面水平角度呈80度角，爪夹合拢抓取黄色方块。为完成抓取黄色方块使其落入塑料盆中的任务应当：爪夹夹取黄色方块垂直下降至塑料盆中。", + "progress_explanation": "当前爪夹合拢抓取黄色方块向爪夹方向右边移动至塑料盆正上方。因此当前进度提升至70%。", + "error_success_analysis": "当前爪夹成功夹取黄色方块来到塑料盆正上方，准备将其放入塑料盆中。", + "correction_plan": "爪夹垂直下降至塑料盆中，爪夹松开，使黄色方块落入塑料盆中。" + }, + { + "action_description": "关键帧 2/4 (自动生成-expert)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 464, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 15.466666666666667 + }, + { + "action_description": "关键帧 3/4 (自动生成-expert)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 678, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 22.6 + }, + { + "action_description": "关键帧 4/4 (自动生成-expert)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 824, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 27.466666666666665 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251126-151913-good-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251126-151913-good-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..6197c8bc0bf98479f9801cce306edf2be7d294c0 --- /dev/null +++ b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251126-151913-good-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,128 @@ +{ + "task_description": "请将黄色方块放入透明塑料圆碗中：\n开始移动:0%\n爪夹靠近黄色方块:20%\n爪夹碰触黄色方块:30%\n爪夹抓取黄色方块:40%\n爪夹抓住黄色方块接近透明塑料圆碗:60%\n爪夹松开，黄色方块准备掉入透明塑料圆碗:80%\n爪夹松开，黄色方块安稳落入透明塑料圆碗:100%", + "progress_points": [ + { + "time": 3.097333, + "frame": 93, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.511333, + "frame": 135, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.117333, + "frame": 154, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.440533, + "frame": 163, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.248533, + "frame": 187, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.760266, + "frame": 203, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.851066, + "frame": 236, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.982266, + "frame": 269, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.073066, + "frame": 302, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.732933, + "frame": 322, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.3928, + "frame": 342, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.783333, + "frame": 353, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251126-153032-mix-bottles-delivery-box/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251126-153032-mix-bottles-delivery-box/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..550767309d1886562a675b477c939557df0a58a6 --- /dev/null +++ b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251126-153032-mix-bottles-delivery-box/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,138 @@ +{ + "task_description": "把饮料瓶放进快递箱里：\n开始移动:0%\n爪夹靠近饮料瓶:20%\n爪夹碰触饮料瓶:30%\n爪夹抓取饮料瓶:40%\n爪夹抓住饮料瓶接近快递箱:60%\n爪夹松开，饮料瓶准备掉入快递箱:80%\n爪夹松开，饮料瓶安稳落入快递箱:100%", + "progress_points": [ + { + "time": 2.431566, + "frame": 73, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.494099, + "frame": 105, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.147966, + "frame": 124, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.158363317912372, + "frame": 155, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.1595660344072165, + "frame": 215, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.888499, + "frame": 267, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.215433, + "frame": 276, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.769599, + "frame": 353, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.484766, + "frame": 375, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.998066, + "frame": 450, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.713233, + "frame": 471, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.307033, + "frame": 519, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.594333, + "frame": 558, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251126-153032-mix-bottles-delivery-box/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251126-153032-mix-bottles-delivery-box/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..8f504d4d8ec928fdd320bc3642e90c1fc9fe4b8e --- /dev/null +++ b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251126-153032-mix-bottles-delivery-box/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,228 @@ +{ + "task_description": "把饮料瓶放进快递箱里：\n开始移动:0%\n爪夹靠近饮料瓶:20%\n爪夹碰触饮料瓶:30%\n爪夹抓取饮料瓶:40%\n爪夹抓住饮料瓶接近快递箱:60%\n爪夹松开，饮料瓶准备掉入快递箱:80%\n爪夹松开，饮料瓶安稳落入快递箱:100%", + "progress_points": [ + { + "time": 2.958399, + "frame": 89, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.1624, + "frame": 125, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": 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cooker/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,862 @@ +{ + "task_description": "抓取黄色方块使其落入饭锅中：\n开始移动：0%\n爪夹靠近黄色方块：20%\n爪夹抓取黄色方块：40%\n爪夹抓住黄色方块接近饭锅：60%\n爪夹将黄色方块放入饭锅：80%\n爪夹松开，黄色方块落入饭锅中：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，准备移动。", + "correction_plan": "爪夹张开向爪夹方向前方移动至黄色方块正上方并调整爪夹与桌面水平角度，使爪夹垂直于桌面，爪夹垂直下降靠近黄色方块，爪夹合拢抓取黄色方块竖直上升，爪夹夹取黄色方块向爪夹左后方移动至饭锅正上方，爪夹夹取黄色方块垂直下降至饭锅中，爪夹松开，使黄色方块落入饭锅中。", + "error_success_analysis": "", + "frame": 66, + "progress": 0, + "progress_explanation": "当前爪夹张开，没有任何动作。因此当前进度为0%。", + "state_description": "当前爪夹与桌面水平角度呈60度角。为完成抓取黄色方块使其落入饭锅的任务应当：爪夹向爪夹前方移动至黄色方块，并调整爪夹与桌面水平角度，使其垂直于桌面。", + "time": 2.185413523388073, + "annotations": { + "point_1766544003437": { + "type": "point", + "instances": [ + { + "id": "point_1766544003437_1766544538393_n0511gob3", + "x": 0.5001110534600187, + "y": 0.3874629404733935 + } + ] + }, + "point_1766544003312": { + "type": "point", + "instances": [ + { + "id": 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+ "state_description": "爪夹张开，爪夹垂直于桌面，此时爪夹与黄色方块水平距离接近。为完成抓取黄色方块使其落入饭锅的任务应当：爪夹垂直下降靠近黄色方块。", + "time": 4.847887620806091, + "annotations": { + "point_1766544003312": { + "type": "point", + "instances": [ + { + "id": "point_1766544003312_1766544504801_ki0qr4idm", + "x": 0.491111054009335, + "y": 0.5914629187855698 + } + ] + }, + "point_1766544003437": { + "type": "point", + "instances": [ + { + "id": "point_1766544003437_1766544506945_2gxkv8hz9", + "x": 0.5881110480889252, + "y": 0.555462921715257 + } + ] + }, + "bbox_1766544002457": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766544002457_1766544511025_xz249obbn", + "x": 0.4841110544365811, + "y": 0.6581295800268897, + "width": 0.046999997131347906, + "height": 0.07199999414062538 + } + ] + }, + "bbox_1766544002305": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766544002305_1766544520106_y3e84s2zw", + "x": 0.15011107482232208, + "y": 0.4434629308298396, + "width": 0.22699998614502034, + "height": 0.3026666420355923 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8.414933, + "frame": 252, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.696533, + "frame": 321, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.819931097293814, + "frame": 385, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.180266, + "frame": 425, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.572799, + "frame": 437, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + 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+ "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251126-162831-mix-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251126-162831-mix-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..1cc59856e484b52af9d4837efed73d12d8fb799e --- /dev/null +++ b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251126-162831-mix-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,168 @@ +{ + "task_description": "请将饮料瓶放入白色托盘中：\n开始移动:0%\n爪夹靠近饮料瓶:20%\n爪夹碰触饮料瓶:30%\n爪夹抓取饮料瓶:40%\n爪夹抓住饮料瓶接近白色托盘:60%\n爪夹松开，饮料瓶准备掉入白色托盘:80%\n爪夹松开,饮料瓶安稳落入白色托盘:100%", + "progress_points": [ + { + 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"爪夹夹取瓶子上升，接着爪夹抓取瓶子向爪夹方向左边移动至白色托盘正上方，爪夹夹取瓶子垂直下降至白色托盘中，松开爪夹，使瓶子落入白色托盘中。", + "annotations": { + "point_1766557023894": { + "type": "point", + "instances": [ + { + "id": "point_1766557023894_1766557259998_39xkgytyj", + "x": 0.7261110396660742, + "y": 0.5607962546145626 + } + ] + }, + "bbox_1766557023110": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766557023110_1766557264143_hclpldy5j", + "x": 0.6731110429009373, + "y": 0.4101296002091797, + "width": 0.14299999127197313, + "height": 0.19466665082465398 + } + ] + }, + "bbox_1766557022990": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766557022990_1766557279423_6rkqii5ym", + "x": 0.046111081169977954, + "y": 0.2341296145320952, + "width": 0.6219999620361352, + "height": 0.7359999401041717 + } + ] + } + } + }, + { + "time": 7.494291064346466, + "frame": 225, + "progress": 40, + "action_description": "当前爪夹合拢抓取瓶子。", + "state_description": "当前爪夹合拢并抓取瓶子，此时爪夹与桌面水平角度呈60度角。为完成抓取瓶子使其落入白色托盘中的任务应当：爪夹夹取瓶子上升。", + 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"当前爪夹夹取瓶子竖直上升，此时爪夹与白色托盘水平距离接近。", + "state_description": "当前爪夹夹取瓶子，此时抓夹与白色托盘水平接近。为完成抓取瓶子使其落入白色托盘中的任务应当：爪夹夹取瓶子向爪夹方向左边移动至白色托盘正上方。", + "progress_explanation": "当前爪夹与白色托盘水平距离接近。因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹成功夹取瓶子竖直上升并接近白色托盘。", + "correction_plan": "爪夹抓取瓶子向爪夹方向左边移动至白色托盘正上方，爪夹夹取瓶子垂直下降至白色托盘中，松开爪夹，使瓶子落入白色托盘中。", + "annotations": { + "point_1766557023894": { + "type": "point", + "instances": [ + { + "id": "point_1766557023894_1766557181095_f9nzkq4wc", + "x": 0.760111037590879, + "y": 0.41012960020917966 + } + ] + }, + "bbox_1766557023110": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766557023110_1766557186399_kl1wje3zp", + "x": 0.6791110425347263, + "y": 0.21279628293487282, + "width": 0.15299999066162168, + "height": 0.2999999755859395 + } + ] + }, + "bbox_1766557022990": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766557022990_1766557200679_zr7kyavx5", + "x": 0.0471110811089428, + "y": 0.23679628098174796, + "width": 0.6229999619750999, + "height": 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0.4843518180866033 + } + ] + }, + "bbox_1766557023110": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766557023110_1766557049758_70ru9a098", + "x": 0.39311105999078, + "y": 0.3870184926742763, + "width": 0.07799999523925813, + "height": 0.23733331401909882 + } + ] + }, + "bbox_1766557022990": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766557022990_1766557067614_71uwwona5", + "x": 0.047111081108942805, + "y": 0.235018505044067, + "width": 0.6219999620361352, + "height": 0.7319999404296922 + } + ] + } + } + }, + { + "action_description": "关键帧 2/4 (自动生成-expert)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 440, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 14.666666666666666 + }, + { + "action_description": "关键帧 3/4 (自动生成-expert)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 704, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 23.466666666666665 + }, + { + "action_description": "关键帧 4/4 (自动生成-expert)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 788, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 26.266666666666666 + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1766557022990", + "name": "白色托盘", + "color": "#4CAF50" + }, + { + "id": "bbox_1766557023110", + "name": "瓶子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1766557023894", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1766557024022", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251126-162831-mix-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251126-162831-mix-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000007.json new 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"state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.797466, + "frame": 294, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.358733, + "frame": 371, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.4422, + "frame": 463, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.172534607860822, + "frame": 545, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 19.47995730579897, + "frame": 584, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 19.793866, + "frame": 594, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 20.614466, + "frame": 618, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 21.584266, + "frame": 648, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 22.8276, + "frame": 685, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 23.5736, + "frame": 707, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 24.866667, + "frame": 746, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251126-162831-mix-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000009.json b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251126-162831-mix-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..4fccd38d1088fa5beba5930d70791dcddcf3050c --- /dev/null +++ b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251126-162831-mix-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000009.json @@ -0,0 +1,148 @@ +{ + "task_description": "请将饮料瓶放入白色托盘中：\n开始移动:0%\n爪夹靠近饮料瓶:20%\n爪夹碰触饮料瓶:30%\n爪夹抓取饮料瓶:40%\n爪夹抓住饮料瓶接近白色托盘:60%\n爪夹松开，饮料瓶准备掉入白色托盘:80%\n爪夹松开,饮料瓶安稳落入白色托盘:100%", + "progress_points": [ + { + "time": 2.645343603479381, + "frame": 79, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.248230177706185, + "frame": 127, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.867199, + "frame": 146, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + 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0.42301848974458905 + } + ] + }, + "bbox_1766567632362": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766567632362_1766567660905_mm55tnkc3", + "x": 0.5921110478447846, + "y": 0.4403518216673322, + "width": 0.21499998687744215, + "height": 0.16399998665364698 + } + ] + }, + "bbox_1766567632521": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766567632521_1766567672498_lq6g2wcrn", + "x": 0.5631110496148041, + "y": 0.42835182264389465, + "width": 0.2269999861450204, + "height": 0.2959999759114603 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1766567632362", + "name": "瓶子", + "color": "#4CAF50" + }, + { + "id": "bbox_1766567632521", + "name": "饭锅", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1766567633306", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1766567633449", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251126-171331-mix-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251126-171331-mix-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..a2a0e7e63ccfc493d0c57e65354cb76014ae147e --- /dev/null +++ b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251126-171331-mix-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,118 @@ +{ + "task_description": "请将饮料瓶放入透明塑料圆碗中：\n开始移动:0%\n爪夹靠近饮料瓶:20%\n爪夹碰触饮料瓶:30%\n爪夹抓取饮料瓶:40%\n爪夹抓住饮料瓶接近透明塑料圆碗:60%\n爪夹松开,饮料瓶准备掉入透明塑料圆碗:80%\n爪夹松开,饮料瓶安稳落入透明塑料圆碗:100%", + "progress_points": [ + { + "time": 2.1386, + "frame": 64, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.8577234171391757, + "frame": 86, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.896692541881444, + "frame": 177, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.830232076932992, + "frame": 205, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.475466, + "frame": 224, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.209466, + "frame": 276, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.558133, + "frame": 317, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.908666, + "frame": 387, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.371066, + "frame": 401, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.060197837757732, + "frame": 422, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.357399, + "frame": 491, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251126-171331-mix-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251126-171331-mix-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..dfbc009257af924a3187389e616b276b14705c0a --- /dev/null +++ b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251126-171331-mix-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,168 @@ +{ + "task_description": "请将饮料瓶放入透明塑料圆碗中：\n开始移动:0%\n爪夹靠近饮料瓶:20%\n爪夹碰触饮料瓶:30%\n爪夹抓取饮料瓶:40%\n爪夹抓住饮料瓶接近透明塑料圆碗:60%\n爪夹松开，饮料瓶准备掉入透明塑料圆碗:80%\n爪夹松开,饮料瓶安稳落入透明塑料圆碗:100%", + "progress_points": [ + { + "time": 2.2064, + "frame": 66, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.4672, + "frame": 104, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.281466, + "frame": 128, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.6736, + "frame": 170, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.144533, + "frame": 214, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.482266, + "frame": 284, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.112666, + "frame": 303, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.690533, + "frame": 321, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.426, + "frame": 343, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.8144, + "frame": 444, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.2328, + "frame": 487, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 19.7788, + "frame": 593, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 21.696266, + "frame": 651, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 22.090266, + "frame": 663, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 22.7732, + "frame": 683, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 23.850133, + "frame": 716, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251126-171331-mix-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000004.json b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251126-171331-mix-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..9a95ee5127217ebecada0e9cfe09d864a5cc3982 --- /dev/null +++ b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251126-171331-mix-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,118 @@ +{ + "task_description": "请将饮料瓶放入透明塑料圆碗中：\n开始移动:0%\n爪夹靠近饮料瓶:20%\n爪夹碰触饮料瓶:30%\n爪夹抓取饮料瓶:40%\n爪夹抓住饮料瓶接近透明塑料圆碗:60%\n爪夹松开，饮料瓶准备掉入透明塑料圆碗:80%\n爪夹松开,饮料瓶安稳落入透明塑料圆碗:100%", + "progress_points": [ + { + "time": 3.1668, + "frame": 95, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.9676, + "frame": 119, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.641, + "frame": 139, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.151599, + "frame": 185, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.103221649484535, + "frame": 243, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.5914, + "frame": 288, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.703599, + "frame": 381, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.9594, + "frame": 419, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.670231958762887, + "frame": 440, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.014999, + "frame": 450, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.3628, + "frame": 521, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251126-171331-mix-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000008.json b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251126-171331-mix-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..81bea7b88dc32f736a2abff1272e2be5f82d6d6e --- /dev/null +++ b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251126-171331-mix-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,806 @@ +{ + "task_description": "爪夹抓取塑料瓶放进塑料盆里。\n爪夹开始移动:0%\n爪夹靠近塑料瓶:20%\n爪夹夹起塑料瓶:40%\n爪夹移动塑料瓶:60%\n爪夹将塑料瓶放入:80%\n爪夹松开，塑料瓶掉入塑料盆里里:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "annotations": { + "bbox_1766111171074": { + "instances": [ + { + "height": 0.23337413300693596, + "id": 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cooker/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,836 @@ +{ + "task_description": "爪夹抓取药瓶放进米饭锅里。\n爪夹开始移动:0%\n爪夹靠近药瓶:20%\n爪夹夹取药瓶：40%\n爪夹夹取药瓶移动靠近米饭锅:60%\n爪夹移动药瓶至米饭锅的正上方位置:80%\n爪夹松开，药瓶掉金米饭锅里:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "annotations": { + "bbox_1766380292584": { + "instances": [ + { + "height": 0.0973333333333334, + "id": "bbox_1766380292584_1766380357295_hmm624giv", + "width": 0.06499999999999995, + "x": 0.49050000000000005, + "y": 0.456 + } + ], + "type": "bbox" + }, + "bbox_1766380299512": { + "instances": [ + { + "height": 0.2933333333333333, + "id": "bbox_1766380299512_1766380361423_h9rca4sfm", + "width": 0.22400000000000003, + "x": 0.10049999999999999, + "y": 0.3186666666666667 + } + ], + "type": "bbox" + }, + "point_1766380306784": { + "instances": [ + { + "id": "point_1766380306784_1766380364966_dandiw7ve", + "x": 0.3805, + "y": 0.384 + } + ], + "type": "point" + }, + "point_1766380316904": { + 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0.227, + "x": 0.0995, + "y": 0.32133333333333336 + } + ], + "type": "bbox" + }, + "point_1766380306784": { + "instances": [ + { + "id": "point_1766380306784_1766380405229_mbr4ckg1o", + "x": 0.5185000000000001, + "y": 0.49600000000000005 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹方向的左前方移动靠近药瓶后下降，抓取药瓶后向爪夹方向的右侧移动，直至到达米饭锅的正上方，下降松开爪夹，然后药瓶落入米饭锅中。", + "error_success_analysis": "爪夹首先调整爪夹角度使其垂直于桌面，然后向爪夹方向左侧移动靠近药瓶，以方便抓取药瓶。", + "frame": 179, + "progress": 20, + "progress_explanation": "目前爪夹首先调整爪夹角度使其垂直于桌面，然后向爪夹方向左侧移动靠近药瓶，以方便抓取药瓶，因此进度提升为20%。", + "state_description": "当前状态为爪夹打开，靠近药瓶。\n为完成夹起药瓶使其放入米饭锅里的任务应当:合拢爪夹抓取药瓶，抬升至空中。", + "time": 5.950824742268042 + }, + { + "action_description": "爪夹下降合拢夹取药瓶。", + "annotations": { + "bbox_1766380292584": { + "instances": [ + { + "height": 0.09733333333333333, + "id": "bbox_1766380292584_1766380442773_rebhlclvb", + "width": 0.06899999999999987, + "x": 0.5115000000000001, + "y": 0.43333333333333335 + } + ], + "type": "bbox" + }, + "bbox_1766380299512": { + "instances": [ + { + "height": 0.29066666666666674, + "id": "bbox_1766380299512_1766380437455_2s5vo546q", + "width": 0.22699999999999995, + "x": 0.0985, + "y": 0.32133333333333336 + } + ], + "type": "bbox" + }, + "point_1766380306784": { + "instances": [ + { + "id": "point_1766380306784_1766380447013_08e1tsarf", + "x": 0.5855, + "y": 0.41333333333333333 + } + ], + "type": "point" + }, + "point_1766380316904": { + "instances": [ + { + "id": "point_1766380316904_1766380449790_9neoisjk9", + "x": 0.5915, + "y": 0.4106666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "应该重新调整爪夹角度，使其爪夹的两侧夹子处在药瓶的两侧位置，微微下降爪夹，然后合拢爪夹抓取药瓶，抓取药瓶后向爪夹方向的右侧移动，直至到达米饭锅的正上方，下降松开爪夹，然后药瓶落入米饭锅中。", + "error_success_analysis": "爪夹夹取药瓶时，爪夹的左侧夹子碰到了药瓶，没有夹取成功。", + "frame": 239, + "progress": 0, + "progress_explanation": "目前爪夹微微下降，合拢爪夹抓取药瓶，但并没有成功，因此进度倒退为0%。", + "state_description": "当前爪夹处于合拢状态，没有成功抓取药瓶。\n为完成夹起药瓶使其再放入托盘里的任务应当:重新松开爪夹，再次调整爪夹角度向爪夹方向的左侧移动至药瓶正上方，准备抓取药瓶。", + "time": 7.966666666666667 + }, + { + "action_description": "重新松开爪夹，再次调整爪夹角度向爪夹方向的左侧移动至药瓶正上方，准备抓取药瓶。", + "annotations": { + "bbox_1766380292584": { + "instances": [ + { + "height": 0.06666666666666667, + "id": "bbox_1766380292584_1766380545379_ngw4i8ee1", + "width": 0.071, + "x": 0.5045, + "y": 0.4666666666666667 + } + ], + "type": "bbox" + }, + "bbox_1766380299512": { + "instances": [ + { + "height": 0.2933333333333334, + "id": "bbox_1766380299512_1766380540859_edq604ujd", + "width": 0.225, + "x": 0.0995, + "y": 0.32 + } + ], + "type": "bbox" + }, + "point_1766380306784": { + "instances": [ + { + "id": "point_1766380306784_1766380548170_vp9488esh", + "x": 0.5025000000000001, + "y": 0.532 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取药瓶后向爪夹方向的右侧移动，直至到达米饭锅的正上方，下降松开爪夹，然后药瓶落入米饭锅中。", + "error_success_analysis": "爪夹再次调整爪夹角度，使其爪夹处在药瓶的正上方位置以方便抓取药瓶。", + "frame": 343, + "progress": 20, + "progress_explanation": "目前爪夹再次调整爪夹角度，使其爪夹处在药瓶的正上方位置以方便抓取药瓶，因此进度提升为20%。", + "state_description": "当前状态为爪夹打开，再次移动靠近药瓶。\n为完成夹起药瓶使其放入米饭锅里的任务应当:爪夹抓取药瓶后微微抬升，向爪夹方向右侧的米饭锅移动。", + "time": 11.433333333333334 + }, + { + "action_description": "爪夹合拢成功抓取药瓶，微微抬升。", + "annotations": { + "bbox_1766380292584": { + "instances": [ + { + "height": 0.09466666666666677, + "id": "bbox_1766380292584_1766380622209_076f75g0f", + "width": 0.06399999999999997, + "x": 0.5335000000000001, + "y": 0.444 + } + ], + "type": "bbox" + }, + "bbox_1766380299512": { + "instances": [ + { + "height": 0.28933333333333333, + "id": "bbox_1766380299512_1766380617050_ejeihyocx", + "width": 0.22600000000000003, + "x": 0.0975, + "y": 0.32133333333333336 + } + ], + "type": "bbox" + }, + "point_1766380306784": { + "instances": [ + { + "id": "point_1766380306784_1766380625778_p6trwg99i", + "x": 0.5425, + "y": 0.48800000000000004 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹成功抓取药瓶后，微微上升后向爪夹方向的右侧移动，直至到达米饭锅的正上方，下降松开爪夹，然后药瓶落入米饭锅中。", + "error_success_analysis": "爪夹在药瓶的正上方位置合拢，爪夹成功抓取药瓶。", + "frame": 370, + "progress": 40, + "progress_explanation": "目前爪夹成功抓取药瓶，任务进度提成为40%。", + "state_description": "当前状态为爪夹合拢，爪夹成功抓取药瓶。\n为完成夹起药瓶使其放入米饭锅里的任务应当:爪夹抓取药瓶向爪夹方向右侧移动。", + "time": 12.318865979381444 + }, + { + "action_description": "爪夹夹取药瓶后微微上升，然后向爪夹右侧移动至米饭锅的左上方位置。", + "annotations": { + "bbox_1766380292584": { + "instances": [ + { + "height": 0.09466666666666672, + "id": "bbox_1766380292584_1766380738591_vsy7pmfg3", + "width": 0.07099999999999995, + "x": 0.34750000000000003, + "y": 0.36933333333333335 + } + ], + "type": "bbox" + }, + "bbox_1766380299512": { + "instances": [ + { + "height": 0.29600000000000004, + "id": "bbox_1766380299512_1766380743056_qheaau3vr", + "width": 0.22599999999999998, + "x": 0.0995, + "y": 0.31599999999999995 + } + ], + "type": "bbox" + }, + "point_1766380306784": { + "instances": [ + { + "id": "point_1766380306784_1766380721303_9etkupsef", + "x": 0.34450000000000003, + "y": 0.42533333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹微微下降，然后松开爪夹，药瓶落入米饭锅中。", + "error_success_analysis": "爪夹抓取药瓶，向爪夹方向的右侧移动至米饭锅的左上方位置，以便爪夹松开，药瓶落入米饭锅里。", + "frame": 401, + "progress": 50, + "progress_explanation": "目前爪夹抓取药瓶，向爪夹方向的右侧移动至米饭锅的左上方位置，因此进度提升为60%。", + "state_description": "当前状态为爪夹合拢，抓紧药瓶。药瓶已被移动至米饭锅左上方位置。\n为完成夹起药瓶使其放入托盘里的任务应当:爪夹抓取药瓶继续向爪夹方向右侧移动至米饭锅里。", + "time": 13.366666666666667 + }, + { + "action_description": "爪夹松开，药瓶掉在桌面上。", + "annotations": { + "bbox_1766380292584": { + "instances": [ + { + "height": 0.10133333333333336, + "id": "bbox_1766380292584_1766380780705_nfwbklq35", + "width": 0.044, + "x": 0.3115, + "y": 0.48666666666666664 + } + ], + "type": "bbox" + }, + "bbox_1766380299512": { + "instances": [ + { + "height": 0.28800000000000014, + "id": "bbox_1766380299512_1766380776423_1319q8z4i", + "width": 0.21999999999999997, + "x": 0.10049999999999999, + "y": 0.32266666666666666 + } + ], + "type": "bbox" + }, + "point_1766380306784": { + "instances": [ + { + "id": "point_1766380306784_1766380783042_g2vbikjcx", + "x": 0.36150000000000004, + "y": 0.42933333333333334 + } + ], + "type": "point" + }, + "point_1766380316904": { + "instances": [ + { + "id": "point_1766380316904_1766380785078_9lwfxcx8r", + "x": 0.47350000000000003, + "y": 0.456 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取药瓶向在爪夹方向右侧的米饭锅方向移动时，应当移动至米饭锅的正上方的位置，然后松开爪夹，药瓶落入米饭锅中。", + "error_success_analysis": "因为爪夹抓取药瓶向爪夹右侧方向的米饭锅移动时，没有移动到米饭锅的正上方的位置就松开爪夹了，所以药瓶没有落入米饭锅中。", + "frame": 443, + "progress": 0, + "progress_explanation": "目前爪夹松开，药瓶掉在桌面上，并没有落入米饭锅中，因此进度倒退为0%。", + "state_description": "当前爪夹为张开状态，药瓶没有落入米饭锅中。\n为完成夹起药瓶使其放入米饭锅里的任务应当:再次调整爪夹角度，向爪夹方向的右侧移动至药瓶正上方，准备抓取药瓶。", + "time": 14.778247422680412 + }, + { + "action_description": "爪夹重新调整角度使其垂直于桌面，然后将爪夹微微倾斜，向爪夹右侧移动时，爪夹左将米饭锅向爪夹右侧推动，然后爪夹处在药瓶的正上方位置。", + "annotations": { + "bbox_1766380292584": { + "instances": [ + { + "height": 0.10800000000000001, + "id": "bbox_1766380292584_1766380820789_e845bjfi5", + "width": 0.048, + "x": 0.3085, + "y": 0.48000000000000004 + } + ], + "type": "bbox" + }, + "bbox_1766380299512": { + "instances": [ + { + "height": 0.28933333333333344, + "id": "bbox_1766380299512_1766380816854_2nju6xe5n", + "width": 0.22399999999999998, + "x": 0.0725, + "y": 0.3106666666666667 + } + ], + "type": "bbox" + }, + "point_1766380306784": { + "instances": [ + { + "id": "point_1766380306784_1766380812830_smun0t2i4", + "x": 0.3195, + "y": 0.5213333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取药瓶后向爪夹方向的右侧移动，直至到达米饭锅的正上方，下降松开爪夹，然后药瓶落入米饭锅中。", + "error_success_analysis": "爪夹再次调整爪夹角度，使其爪夹处在药瓶的正上方位置以便抓取药瓶。", + "frame": 563, + "progress": 20, + "progress_explanation": "目前爪夹再次调整爪夹角度，使其爪夹处在药瓶的正上方位置以方便抓取药瓶，因此进度重新提升为20%。", + "state_description": "当前状态为爪夹打开，再次移动重新靠近药瓶。\n为完成夹起药瓶使其放入米饭锅里的任务应当:爪夹合拢抓取药瓶后抬升至空中。", + "time": 18.774742268041237 + }, + { + "action_description": "爪夹合拢抓取药瓶。", + "annotations": { + "bbox_1766380292584": { + "instances": [ + { + "height": 0.09200000000000011, + "id": "bbox_1766380292584_1766380858732_d9cc1mcsx", + "width": 0.073, + 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container/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,584 @@ +{ + "task_description": "爪夹抓取药瓶放进塑料盆里。\n爪夹开始移动:0%\n爪夹靠近药瓶:30%\n爪夹夹取药瓶：50%\n爪夹夹取药瓶移动至塑料盆上方:80%\n爪夹松开，药瓶掉进塑料盆里:100%.", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "annotations": { + "bbox_1766393228276": { + "instances": [ + { + "height": 0.06266666666666669, + "id": "bbox_1766393228276_1766393263544_p6wc6xg92", + "width": 0.07400000000000011, + "x": 0.6745, + "y": 0.3893333333333333 + } + ], + "type": "bbox" + }, + "bbox_1766393233440": { + "instances": [ + { + "height": 0.2826666666666667, + "id": "bbox_1766393233440_1766393266769_2wshzwjrj", + "width": 0.36199999999999993, + "x": 0.31250000000000006, + "y": 0.7080000000000001 + } + ], + "type": "bbox" + }, + "point_1766393240785": { + "instances": [ + { + "id": "point_1766393240785_1766393270191_v3bfu199t", + "x": 0.3895, + "y": 0.392 + } + ], + "type": "point" + }, + "point_1766393246425": { + "instances": [ + { 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"目前爪夹识别错目标物品，与上一阶段相比多了一次重新靠近插座的动作，所以任务进度倒退为-20%。", + "state_description": "当前状态为爪夹打开，靠近胶带和海绵刷。\n为完成爪夹抓取插座放进快递箱里的任务应当:重新调整爪夹角度，向爪夹方向的右侧移动靠近插座，方便抓取插座。", + "time": 5.418865601481964, + "annotations": { + "bbox_1766568522422": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766568522422_1766568589156_t9th3yoir", + "x": 0.6338983488023556, + "y": 0.19293357288770083, + "width": 0.3581921150986574, + "height": 0.5032015065913371 + } + ] + }, + "bbox_1766568508422": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766568508422_1766568592437_ie4lkgg7d", + "x": 0.418079124878559, + "y": 0.6343648346579458, + "width": 0.10395480942926331, + "height": 0.17325800376647832 + } + ] + }, + "point_1766568529901": { + "type": "point", + "instances": [ + { + "id": "point_1766568529901_1766568595012_7jci47ipu", + "x": 0.5480226366651382, + "y": 0.696135079479038 + } + ] + }, + "point_1766568538423": { + "type": "point", + "instances": [ + { + "id": 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"当前状态为爪夹合拢，没有成功抓取插座。\n为完成爪夹抓取插座放进快递箱里的任务应当:松开爪夹，重新调整爪夹角度，向爪夹方向的右侧移动靠近插座，方便抓取插座。", + "time": 13.917166, + "annotations": { + "bbox_1766568522422": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766568522422_1766568730745_9wor7bbuz", + "x": 0.7186441173588204, + "y": 0.1341765107408082, + "width": 0.27796612086520406, + "height": 0.4775894538606404 + } + ] + }, + "bbox_1766568508422": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766568508422_1766568735000_f9ypxc4rg", + "x": 0.47909607823921363, + "y": 0.667783759452978, + "width": 0.12316385030206192, + "height": 0.13258003766478327 + } + ] + }, + "point_1766568529901": { + "type": "point", + "instances": [ + { + "id": "point_1766568529901_1766568737120_mkkigpwm0", + "x": 0.5683616211186897, + "y": 0.6210794280028836 + } + ] + }, + "point_1766568538423": { + "type": "point", + "instances": [ + { + "id": "point_1766568538423_1766568740239_ad0qrbxrk", + "x": 0.5785311133454655, + "y": 0.627105793351283 + } + ] + } + } + 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] + } + } + }, + { + "action_description": "调整爪夹角度使其垂直于桌面，然后向爪夹方向的前方移动至插座上方。", + "correction_plan": "抓取插座后抬升至空中，然后向爪夹方向的右侧移动，直至到达米饭锅的正上方，松开爪夹，然后插座落入米饭锅中。", + "error_success_analysis": "调整爪夹角度使其垂直于桌面，然后向爪夹方向的前方移动至插座上方，方便抓取插座。", + "frame": 169, + "progress": 30, + "progress_explanation": "目前调整爪夹角度使其垂直于桌面，然后向爪夹方向的前方移动至插座上方，方便抓取插座，所以任务进度提升为30%。", + "state_description": "当前状态为爪夹打开，靠近插座。\n为完成爪夹抓取插座放进米饭锅里的任务应当:爪夹合拢抓取插座后抬升至空中。", + "time": 5.628762886597937, + "annotations": { + "bbox_1766556368242": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766556368242_1766556610828_g8kgtes8u", + "x": 0.1995, + "y": 0.5293333333333333, + "width": 0.254, + "height": 0.3413333333333333 + } + ] + }, + "bbox_1766556361562": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766556361562_1766556617204_b0zrq3jub", + "x": 0.48550000000000004, + "y": 0.6826666666666666, + "width": 0.12399999999999993, + "height": 0.10799999999999994 + } + ] + }, + "point_1766556375905": { + "type": "point", + 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a/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251127-142255-bad-blue square-white tray/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251127-142255-bad-blue square-white tray/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..76dbfb5f0caea275b195159e362e7db405c77ed7 --- /dev/null +++ b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251127-142255-bad-blue square-white tray/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,58 @@ +{ + "task_description": "把蓝色方块放进白色托盘里：\n开始移动:0%\n爪夹靠近蓝色方块:20%\n爪夹碰触蓝色方块:30%\n爪夹抓取蓝色方块:40%\n爪夹抓住蓝色方块接近白色托盘:60%\n爪夹松开，蓝色方块准备掉入白色托盘:80%\n爪夹松开，蓝色方块安稳落入白色托盘:100%", + "progress_points": [ + { + "time": 1.724901260438144, + "frame": 52, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + 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a/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251127-142255-bad-blue square-white tray/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251127-142255-bad-blue square-white tray/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..c5307ee249763cb275225fe363f91161bb72e112 --- /dev/null +++ b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251127-142255-bad-blue square-white tray/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,136 @@ +{ + "task_description": "抓取蓝色方块放入白色托盘中：\n开始准备移动：0%\n爪夹靠近蓝色方块：20%\n爪夹抓取蓝色方块：40%\n爪夹抓紧蓝色方块接近紫色托盘：60%\n爪夹将蓝色方块放入紫色托盘：80%\n爪夹松开蓝色方块落入紫色托盘：100%", + "progress_points": [ + { + "time": 1.8095459531746683, + "frame": 54, + "progress": 0, + "action_description": "爪夹张开，爪夹未移动", + "state_description": 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8.313367970984455 + }, + { + "action_description": "爪夹松开，胶带落入紫色盒子", + "correction_plan": "爪夹张开，放下胶带，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色方块的正上方。接近蓝色方块后爪夹合拢抓取蓝色方块。抓紧蓝色方块垂直升高爪夹并向爪夹左方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后，松开爪夹，使蓝色方块落入电饭煲内胆。", + "error_success_analysis": "爪夹抓取胶带后放入紫色盒子，未正确抓取蓝色方块，需要对蓝色方块进行抓取操作", + "frame": 298, + "progress": -50, + "progress_explanation": "爪夹松开，胶带落入紫色盒子，爪夹需要对蓝色方块进行抓取，因此进度为-50%", + "state_description": "当前爪夹松开，与桌面夹角60°，胶带落入紫色盒子，爪夹对蓝色方块进行抓取", + "time": 9.939896487046632 + }, + { + "action_description": "爪夹处于合拢状态，准备对蓝色方块抓取", + "correction_plan": "爪夹向上垂直升高并向爪夹前方的蓝色方块移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色方块的正上方。接近蓝色方块后爪夹合拢抓取蓝色方块。抓紧蓝色方块垂直升高爪夹并向爪夹左方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后，松开爪夹，使蓝色方块落入电饭煲内胆。", + "error_success_analysis": "", + "frame": 356, + "progress": 0, + "progress_explanation": "爪夹处于合拢状态，未开始抓取蓝色方块，进度为0", + "state_description": "当前爪夹为合拢状态，未接触蓝色方块\n为完成抓取蓝色方块使其落入电饭煲内胆的任务应当：爪夹向爪夹左前方的蓝色方块移动，同时调整爪夹的角度使其垂直于桌面，并移动到蓝色方块的正上方", + "time": 11.867633987564767 + }, + { + "action_description": "爪夹张开，正在下降靠近至蓝色方块的边缘", + "correction_plan": "爪夹继续下降，抓取蓝色方块后竖直上升，向爪夹左前方移动至电饭煲内胆上方，下降放入蓝色方块后松开爪夹", + "error_success_analysis": "爪夹成功到达蓝色方块边缘正上方，准备下降给抓取", + "frame": 439, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，向下移动接近蓝色方块，进度提升为20%", + "state_description": "当前爪夹张开，与桌面呈60°夹角。\n为完成抓取蓝色方块使其落入电饭煲内胆的任务应当：爪夹向爪夹左前方的蓝色方块移动，同时调整爪夹的角度使其垂直于桌面，并移动到蓝色方块的正上方", + "time": 14.638756644559583 + }, + { + "action_description": "爪夹合拢夹住蓝色方块并准备上升", + "correction_plan": "继续向爪夹右侧移动至电饭煲内胆上方，下降至电饭煲内胆上，松开爪夹让蓝色方块落入中间", + "error_success_analysis": "爪夹成功夹住蓝色方块并上升，向电饭煲内胆上方移动", + "frame": 517, + "progress": 40, + "progress_explanation": "爪夹夹住蓝色方块，开始向电饭煲内胆上方移动，进度60%", + "state_description": "当前爪夹合拢，在桌面的上方。\n为完成夹起蓝色方块使其放入电饭煲内胆的任务应当:\n向爪夹方向的右侧移动至电饭煲内胆上方，然后下降至电饭煲内胆上，随后松开爪夹，红色方块落入电饭煲内胆中间。", + "time": 17.22915391088083 + }, + { + "time": 19.03941602590206, + "frame": 571, + "progress": 60, + "action_description": "爪夹夹住蓝色方块，向爪夹方向的右方移动", + "state_description": "当前爪夹合拢夹住蓝色方块，与桌面角度呈60°\n为完成抓取蓝色方块使其落入电饭煲内胆的任务应当：夹住蓝色方块并上升，然后向爪夹方向的右前方移动至电饭煲内胆上方，然后下降至电饭煲内胆上，随后松开爪夹，蓝色方块落入电饭煲内胆中间。", + "progress_explanation": "爪夹夹住蓝色方块，开始向紫色盒子上方移动，进度60%", + "error_success_analysis": "爪夹成功夹住蓝色方块并上升，向紫色盒子上方移动", + "correction_plan": "爪夹抓取蓝色方块后继续竖直上升，向爪夹右前方移动至电饭煲内胆上方，下降放入蓝色方块后松开爪夹" + }, + { + "time": 21.856185817654637, + "frame": 656, + "progress": 40, + "action_description": "爪夹夹紧蓝色方块向右移动，张开爪夹", + "state_description": "爪夹张开，水平上远离了蓝色方块，方块掉落桌上，爪夹角度与桌面呈30度。\n为完成抓取蓝色方块使其落入电饭煲内胆的任务应当：爪夹向爪夹左前方的蓝色方块移动，同时调整爪夹的角度使其垂直于桌面，并移动到蓝色方块的正上方", + "progress_explanation": "爪夹张开，水平上远离了蓝色方块，方块掉落桌上，需要重新抓取蓝色方块，因此进度降低为40%", + "error_success_analysis": "爪夹张开，蓝色方块掉落桌面上，需要重新抓取蓝色方块", + "correction_plan": "调整爪夹角度接近垂直于桌面，并移动到蓝色方块的正上方。接着落下爪夹靠近蓝色方块，接近蓝色方块后爪夹合拢抓取蓝色方块。抓紧蓝色方块垂直升高爪夹并向爪夹右前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后，松开爪夹，使蓝色方块落入电饭煲内胆。" + }, + { + "time": 23.384433257860824, + "frame": 702, + "progress": 60, + "action_description": "爪夹重新夹住蓝色方块，向爪夹方向的右方移动", + "state_description": "当前爪夹合拢夹住蓝色方块，与桌面角度呈60°\n为完成抓取蓝色方块使其落入电饭煲内胆的任务应当：夹住蓝色方块并上升，然后向爪夹方向的右前方移动至电饭煲内胆上方，然后下降至电饭煲内胆上，随后松开爪夹，蓝色方块落入电饭煲内胆中间。", + "progress_explanation": "爪夹夹住蓝色方块，开始向紫色盒子上方移动，进度60%", + "error_success_analysis": "爪夹成功夹住蓝色方块并上升，向紫色盒子上方移动", + "correction_plan": "爪夹抓取蓝色方块后继续竖直上升，向爪夹右前方移动至电饭煲内胆上方，下降放入蓝色方块后松开爪夹" + }, + { + "time": 25.661821600128864, + "frame": 770, + "progress": 80, + "action_description": "爪夹继续下降，到合适的位置停止", + "state_description": "当前爪夹下降到合适的位置停止。与桌面夹角为60°\n为完成夹起蓝色方块使其放入电饭煲内胆的任务应当:\n松开爪夹，蓝色方块落入电饭煲内胆中间。", + "progress_explanation": "爪夹已到达正确位置，仅需松开爪夹，进度80%", + "error_success_analysis": "爪夹成功下降至正确位置", + "correction_plan": "爪夹松开，让蓝色方块落入电饭煲内胆" + }, + { + "time": 29.066667, + "frame": 872, + "progress": 100, + "action_description": "爪夹松开，蓝色方块落入电饭煲内胆", + "state_description": "当前爪夹松开，与桌面夹角60°。蓝色方块落入电饭煲内胆，任务已经完成。", + "progress_explanation": "爪夹松开，蓝色方块落入电饭煲内胆，进度100%，任务完成", + "error_success_analysis": "爪夹在正确位置松开，蓝色方块成功落入电饭煲内胆", + "correction_plan": "任务已完成" + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1766626203407", + "name": "胶带", + "color": "#4CAF50" + }, + { + "id": "bbox_1766626215215", + "name": "蓝色方块", + "color": "#FF9800" + }, + { + "id": "bbox_1766626225631", + "name": "电饭煲内胆", + "color": "#2196F3" + }, + { + "id": "bbox_1766626234207", + "name": "紫色盒子", + "color": "#9C27B0" + } + ], + "point_targets": [ + { + "id": "point_1766626246737", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1766626254022", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251127-151107-mix-cocket-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251127-151107-mix-cocket-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..fe186af1d1f31382ac6b8a4e2a7200d552e7fe14 --- /dev/null +++ b/annotation_files_raw/1231/project-1/ARX-data/human-data-1128/20251127-151107-mix-cocket-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,210 @@ +{ + "task_description": "把白色插排夹起来放进白色盆里\n爪夹准备开始移动：0%\n爪夹靠近白色插排：20%\n爪夹夹起白色插排：40%\n爪夹移动白色插排：60%\n爪夹将白色插排放入白色盆上：80%\n爪夹松开，白色插排落入白色盆内：100%", + "progress_points": [ + { + "time": 1.7349223025906735, + "frame": 52, + "progress": 0, + "action_description": "爪夹保持张开状态，暂未移动", + "state_description": "当前状态为爪夹打开，没有移动，没有接触白色插排。\n为完成夹起白色插排使其放入白色盆的任务应当:调整爪夹角度使其与桌面有大约60°夹角，然后向爪夹方向的左侧移动至白色插排边缘，准备抓取白色插排。", + "progress_explanation": "爪夹处于初始状态，未移动，进度为0", + "error_success_analysis": "", + "correction_plan": "调整夹爪角度至与桌面呈60°夹角，向爪夹左方移动至白色插排边缘后下降，抓取白色插排后竖直上升，向爪夹右前方移动至白色盆上方，下降放入白色插排后松开爪夹" + }, + { + "action_description": "爪夹张开，正在下降靠近至黄色海绵的边缘", + "correction_plan": "爪夹上升，向后移动，向垂直于白色插排的方向移动，爪夹下降，抓取白色插排后上升，向爪夹有钱方移动至白色盆上方，下降放入白色插排后松开爪夹", + "error_success_analysis": "爪夹向前移动，下降接近黄色海绵，未接触白色插排", + "frame": 155, + "progress": -10, + "progress_explanation": "爪夹向前移动，下降接近黄色海绵，未接触白色插排，因此进度为-10%", + "state_description": "当前爪夹张开，与桌面夹角60°\n为完成夹起白色插排使其放入白色盆的任务应当:\n下降并旋转爪夹角度，准各抓取白色插排。", + "time": 5.152193504663212, + "annotations": { + "bbox_1766634191179": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766634191179_1766634252841_bpdyq77dw", + "x": 0.5711631448695983, + "y": 0.45588100918828367, + "width": 0.12280982295830958, + "height": 0.1325549520280217 + } + ] + }, + "bbox_1766634191659": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766634191659_1766634265761_ibeo6h4jj", + "x": 0.5419227108319056, + "y": 0.5988324280420325, + "width": 0.17544260422615654, + "height": 0.13255495202802184 + } + ] + }, + "bbox_1766634192107": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766634192107_1766634279152_b1ftvglaw", + "x": 0.6725299828669332, + "y": 0.29213665668308036, + "width": 0.1637464306110795, + "height": 0.2079293365145439 + } + ] + }, + "bbox_1766634192570": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766634192570_1766634302344_0x6y9zh6f", + "x": 0.22612602322482395, + "y": 0.515660693436215, + "width": 0.38402436702836473, + "height": 0.4600436570384284 + } + ] + }, + "point_1766634231714": { + "type": "point", + "instances": [ + { + "id": "point_1766634231714_1766634307296_t5ir7xnh8", + "x": 0.4327584237578527, + "y": 0.3545154576374435 + } + ] + }, + "point_1766634234395": { + "type": "point", + "instances": [ + { + "id": "point_1766634234395_1766634309847_6vy40yhzi", + "x": 0.5263278126784694, + "y": 0.3519163409310117 + } + ] + } + } + }, + { + "action_description": "爪夹重新张开，正在下降靠近至白色插排的边缘", + "correction_plan": "爪夹继续下降，抓取白色插排后竖直上升，向爪夹右前方移动至白色盆上方，下降放入白色插排后松开爪夹", + "error_success_analysis": "爪夹成功到达白色插排边缘正上方，准备下降抓取", + "frame": 363, + "progress": 20, + "progress_explanation": "爪夹角度调整完毕，正在下降接近白色插排，进度20%", + "state_description": "当前爪夹张开，与桌面呈60°夹角。\n为完成夹起白色插排使其放入白色盆的任务应当:\n继续向爪夹方向的左侧移动至白色插排边缘，准各抓取白色插排。", + "time": 12.091882715025905 + }, + { + "action_description": "爪夹合拢夹住白色插排并准备上升", + "correction_plan": "爪夹抓取白色插排后继续竖直上升，向爪夹右前方移动至白色盆上方，下降放入白色盆后松开爪夹", + "error_success_analysis": "爪夹旋转至合适角度，向前小幅移动后合拢，成功夹住白色插排", + "frame": 410, + "progress": 40, + "progress_explanation": "爪夹成功夹住白色插排，进度40%", + "state_description": "当前爪夹合拢夹住白色插排，与桌面角度呈60°\n为完成夹起白色插排使其放入白色盆的任务应当:\n夹住白色插排并上升，然后向爪夹方向的右前方移动至白色盆上方，然后下降至白色盆上，随后松开爪夹，白色插排落入白色盆中间。", + "time": 13.669084808290156 + }, + { + "action_description": "爪夹夹住白色插排，向爪夹的左方移动", + "correction_plan": "需要向爪夹右侧移动至蓝色碗上方，下降至白色盆上，松开爪夹让白色插排落入中间", + "error_success_analysis": "爪夹抓到白色插排并上升，向蓝色碗上方移动", + "frame": 435, + "progress": -30, + "progress_explanation": "爪夹夹住白色插排，开始向蓝色碗上方移动，需要向右移动，向白色盆方向移动，因此进度为-60%", + "state_description": "当前爪夹合拢，在桌面的上方。\n为完成夹起白色插排使其放入白色盆的任务应当:\n向爪夹方向的右侧移动至白色盆上方，然后下降至白色盆上，随后松开爪夹，白色插排落入白色盆中间。", + "time": 14.510259258031088 + }, + { + "action_description": "爪夹继续下降，到合适的位置停止", + "correction_plan": "爪夹移动至白色盆正上方后，松开爪夹，使白色插排落入白色盆", + "error_success_analysis": "爪夹到达蓝色碗正上方，未移动到白色盆正上方，需要移动至白色盆", + "frame": 520, + "progress": -40, + "progress_explanation": "爪夹到达蓝色碗正上方，未移动到白色盆正上方，需要移动至白色盆，因此进度为-40%", + "state_description": "当前爪夹下降到蓝色碗正上方的位置停止。与桌面夹角为60°\n为完成夹起白色插排使其放入白色盆的任务应当:\n移动爪夹，向白色盆方向移动至正上方后，松开白色插排落入白色盆中间。", + "time": 17.349223025906735 + }, + { + "action_description": "爪夹松开，白色插排落入蓝色碗", + "correction_plan": "爪夹重修抓取白色插排，向右移动至白色盆正上方后，松开爪夹使白色插排落入白色盆", + "error_success_analysis": "爪夹在蓝色碗上方松开，白色插排落入蓝色碗", + "frame": 579, + "progress": -50, + "progress_explanation": "爪夹松开，白色插排落入蓝色碗，爪夹需要重新抓取白色插排，因此进度为-50%", + "state_description": "当前爪夹松开，白色插排落入蓝色碗，需要重新抓取白色插排", + "time": 19.294438940932643 + }, + { + "action_description": "爪夹重新夹住白色插排，向爪夹方向的右方移动", + "correction_plan": "继续向爪夹右侧移动至白色盆上方，下降至白色盆上，松开爪夹让白色排插落入白色盆", + "error_success_analysis": "爪夹成功夹住白色插排并上升，向白色盆上方移动", + "frame": 670, + "progress": 60, + "progress_explanation": 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newline at end of file diff --git a/annotation_files_raw/1231/project-2/droid_lerobot/shard_0007/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002997.json b/annotation_files_raw/1231/project-2/droid_lerobot/shard_0007/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002997.json new file mode 100644 index 0000000000000000000000000000000000000000..312456e89391bf4b6e99e5de6eab9a475edd0fbf --- /dev/null +++ b/annotation_files_raw/1231/project-2/droid_lerobot/shard_0007/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002997.json @@ -0,0 +1,118 @@ +{ + "task_description": "把记号笔移到桌上：\n开始移动：0%\n爪夹靠近记号笔的笔身位置：20%\n爪夹夹住记号笔的中段位置：40%\n爪夹带着记号笔向桌面方向移动：60%\n爪夹将记号笔移至桌面目标位置上方：80%\n爪夹松开，记号笔放置在桌上：100%", + "progress_points": [ + { + "time": 1.098326, + "frame": 33, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + 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+ "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/1231/project-2/droid_lerobot/shard_0007/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002102.json b/annotation_files_raw/1231/project-2/droid_lerobot/shard_0007/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002102.json new file mode 100644 index 0000000000000000000000000000000000000000..676f3a8728f4cd31f9d0040e2e3e434dd0274813 --- /dev/null +++ b/annotation_files_raw/1231/project-2/droid_lerobot/shard_0007/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002102.json @@ -0,0 +1,148 @@ +{ + "task_description": "折叠桌面上的衣服（仅对折两次）\n开始移动：0%\n爪夹靠近桌面上的衣服：20%\n爪夹夹住衣服一侧边缘，向另一侧边缘对齐翻折，完成第一次对折：40%\n爪夹调整对折后衣服的平整度：60%\n爪夹夹住衣服一侧边缘，向另一侧边缘对齐翻折，完成第二次对折：80%\n爪夹松开并收回，衣服保持两次对折后的整齐状态，动作完成：100%", + "progress_points": [ + { + "time": 1.372524, + "frame": 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"error_success_analysis": "", + "frame": 525, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 17.490567137744446 + }, + { + "action_description": "关键帧 10/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 286, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 19.066666666666666 + }, + { + "action_description": "关键帧 11/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 303, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 20.2 + }, + { + "action_description": "关键帧 12/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 322, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 21.466666666666665 + }, + { + "action_description": "关键帧 13/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 677, + 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"progress_explanation": "", + "state_description": "", + "time": 28.540051097118692 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/1231/project-2/droid_lerobot/shard_0007/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003982.json b/annotation_files_raw/1231/project-2/droid_lerobot/shard_0007/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003982.json new file mode 100644 index 0000000000000000000000000000000000000000..ae78a31318ba4ad593946d4cd91fa9bd9805c63d --- /dev/null +++ b/annotation_files_raw/1231/project-2/droid_lerobot/shard_0007/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003982.json @@ -0,0 +1,108 @@ +{ + "task_description": "把马克杯里的笔放在桌子上：\n开始移动：0%\n爪夹靠近马克杯：20%\n爪夹抓取笔：40%\n爪夹抓住笔接近桌子：60%\n爪夹将笔接触桌子：80%\n爪夹松开，笔落到桌子上：100%", + "progress_points": [ + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": 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newline at end of file diff --git a/annotation_files_raw/1231/project-2/droid_lerobot/shard_0007/annotations/chunk-003/observation.images.wrist_image_left/episode_003125.json b/annotation_files_raw/1231/project-2/droid_lerobot/shard_0007/annotations/chunk-003/observation.images.wrist_image_left/episode_003125.json new file mode 100644 index 0000000000000000000000000000000000000000..53d5e19ad3f7dcabd2d31f6c55f2ec4162fa11f0 --- /dev/null +++ b/annotation_files_raw/1231/project-2/droid_lerobot/shard_0007/annotations/chunk-003/observation.images.wrist_image_left/episode_003125.json @@ -0,0 +1,108 @@ +{ + "task_description": "关闭柜子上层的抽屉：\n开始移动：0%\n爪夹靠近抽屉：30%\n爪夹接触到抽屉：50%\n爪夹推抽屉：70%\n抽屉完全关闭：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + 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