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JiaMinEsc
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pick-cube-put-bowl-with-stack-two-cubes-merged

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int64
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1.966667
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2
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60
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2.1
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63
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2.133333
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2.166667
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2.2
66
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2.233333
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2.266667
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[ 1.186813235282898, -80, 88.74725341796875, 54.10988998413086, -3.1208791732788086, 2.354480028152466 ]
2.3
69
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2.333333
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70
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2.366667
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71
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[ 1.186813235282898, -80, 88.74725341796875, 54.10988998413086, -3.1208791732788086, 2.354480028152466 ]
2.4
72
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2.433333
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2.466667
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2.5
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2.533333
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2.566667
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2.6
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2.633333
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2.666667
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2.7
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2.733333
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2.766667
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2.8
84
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2.833333
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2.866667
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2.9
87
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2.933333
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2.966667
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3
90
0
90
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3.033333
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3.066667
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3.1
93
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93
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3.133333
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[ 0.8351648449897766, -80, 88.74725341796875, 54.10988998413086, 13.142857551574707, 10.791366577148438 ]
3.166667
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[ 0.3956044018268585, -80, 88.3956069946289, 54.10988998413086, 14.549450874328613, 11.576193809509277 ]
3.2
96
0
96
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[ -4.5714287757873535, -79.9120864868164, 75.20879364013672, 57.18681335449219, 17.450550079345703, 13.279999732971191 ]
[ -0.21978022158145905, -80, 87.78022003173828, 54.19780349731445, 15.428571701049805, 12.099411010742188 ]
3.233333
97
0
97
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[ -5.714285850524902, -79.82417297363281, 73.27472686767578, 58.593406677246094, 17.36263656616211, 13.279999732971191 ]
[ -1.0989011526107788, -80, 86.54945373535156, 54.63736343383789, 16.043956756591797, 12.426422119140625 ]
3.266667
98
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98
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[ -6.769230842590332, -79.82417297363281, 70.989013671875, 60.087913513183594, 17.36263656616211, 13.279999732971191 ]
[ -1.9780219793319702, -80, 84.87911987304688, 55.60439682006836, 16.395605087280273, 12.688031196594238 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

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Check out the documentation for more information.

one dataset two task

doesn't work for smolvla, success rate about 10%。

  • task="stack the white cube on top of the colored cube"
  • task="Pick up the cube and put it in the bowl"
lerobot-rollout   --strategy.type=base   --policy.path=/home/escommune/Downloads/two_task/smolvla_two_task/checkpoints/010000/pretrained_model   --robot.type=so101_follower   --robot.id=my_19kg_follower_arm   --robot.port=/dev/ttyACM1   --robot.cameras="{ hand: {type: opencv, index_or_path: 0, width: 640, height: 480, fps: 30, fourcc: 'MJPG'}, env: {type: opencv, index_or_path: 4, width: 640, height: 480, fps: 30, fourcc: 'MJPG'}}"   --task="Pick up the cube and put it in the bowl"   --duration=600   --display_data=true   --rename_map='{"observation.images.env": "observation.images.camera1", "observation.images.hand": "observation.images.camera2"}'

lerobot-rollout   --strategy.type=base   --policy.path=/home/escommune/Downloads/two_task/smolvla_two_task/checkpoints/010000/pretrained_mode
l   --robot.type=so101_follower   --robot.id=my_19kg_follower_arm   --robot.port=/dev/ttyACM1   --robot.cameras="{ hand: {type: opencv, index_or_path: 0, width: 640, height: 480, fps: 30, fourcc: 'MJPG'}, env: {ty
pe: opencv, index_or_path: 4, width: 640, height: 480, fps: 30, fourcc: 'MJPG'}}"   --task="stack the white cube on top of the colored cube"   --duration=600   --display_data=true   --rename_map='{"observation.images.env": "observation.images.camera1", "observation.images.hand": "observation.images.camera2"}'
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