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|
| 234 |
+
}
|
| 235 |
+
},
|
| 236 |
+
"mixing": {
|
| 237 |
+
"mode": "target_ratio",
|
| 238 |
+
"real_path": "/home/sensethreat/lab_mimic/IsaacLab/datasets/pureReal/realWorldPouring_proxy",
|
| 239 |
+
"real_episodes": 600,
|
| 240 |
+
"synth_total_available": 350,
|
| 241 |
+
"synth_selected": 150,
|
| 242 |
+
"synth_left_selected": 75,
|
| 243 |
+
"synth_right_selected": 75,
|
| 244 |
+
"target_real_pct": 80.0,
|
| 245 |
+
"actual_real_pct": 80.0,
|
| 246 |
+
"actual_synth_pct": 20.0,
|
| 247 |
+
"seed": 42,
|
| 248 |
+
"segments": [
|
| 249 |
+
{
|
| 250 |
+
"path": "/home/sensethreat/lab_mimic/IsaacLab/datasets/pureSynthetic/sd/Lerobot/left/0",
|
| 251 |
+
"side": "left",
|
| 252 |
+
"episodes": 175
|
| 253 |
+
},
|
| 254 |
+
{
|
| 255 |
+
"path": "/home/sensethreat/lab_mimic/IsaacLab/datasets/pureSynthetic/sd/Lerobot/right/0",
|
| 256 |
+
"side": "right",
|
| 257 |
+
"episodes": 175
|
| 258 |
+
}
|
| 259 |
+
],
|
| 260 |
+
"balance_info": {
|
| 261 |
+
"left_available": 175,
|
| 262 |
+
"right_available": 175,
|
| 263 |
+
"left_needed": 75,
|
| 264 |
+
"right_needed": 75,
|
| 265 |
+
"left_selected": 75,
|
| 266 |
+
"right_selected": 75,
|
| 267 |
+
"shortfall_left": 0,
|
| 268 |
+
"shortfall_right": 0
|
| 269 |
+
},
|
| 270 |
+
"a_episodes": 600,
|
| 271 |
+
"b_total_episodes": 350,
|
| 272 |
+
"b_selected_episodes": 150
|
| 273 |
+
}
|
| 274 |
+
}
|
mixed_80_20/meta/modality.json
ADDED
|
@@ -0,0 +1,88 @@
|
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|
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|
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|
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|
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|
|
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|
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|
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|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"state": {
|
| 3 |
+
"left_arm": {
|
| 4 |
+
"start": 0,
|
| 5 |
+
"end": 7
|
| 6 |
+
},
|
| 7 |
+
"left_hand": {
|
| 8 |
+
"start": 7,
|
| 9 |
+
"end": 13
|
| 10 |
+
},
|
| 11 |
+
"left_leg": {
|
| 12 |
+
"start": 13,
|
| 13 |
+
"end": 19
|
| 14 |
+
},
|
| 15 |
+
"neck": {
|
| 16 |
+
"start": 19,
|
| 17 |
+
"end": 22
|
| 18 |
+
},
|
| 19 |
+
"right_arm": {
|
| 20 |
+
"start": 22,
|
| 21 |
+
"end": 29
|
| 22 |
+
},
|
| 23 |
+
"right_hand": {
|
| 24 |
+
"start": 29,
|
| 25 |
+
"end": 35
|
| 26 |
+
},
|
| 27 |
+
"right_leg": {
|
| 28 |
+
"start": 35,
|
| 29 |
+
"end": 41
|
| 30 |
+
},
|
| 31 |
+
"waist": {
|
| 32 |
+
"start": 41,
|
| 33 |
+
"end": 44
|
| 34 |
+
}
|
| 35 |
+
},
|
| 36 |
+
"action": {
|
| 37 |
+
"left_arm": {
|
| 38 |
+
"start": 0,
|
| 39 |
+
"end": 7
|
| 40 |
+
},
|
| 41 |
+
"left_hand": {
|
| 42 |
+
"start": 7,
|
| 43 |
+
"end": 13
|
| 44 |
+
},
|
| 45 |
+
"left_leg": {
|
| 46 |
+
"start": 13,
|
| 47 |
+
"end": 19
|
| 48 |
+
},
|
| 49 |
+
"neck": {
|
| 50 |
+
"start": 19,
|
| 51 |
+
"end": 22
|
| 52 |
+
},
|
| 53 |
+
"right_arm": {
|
| 54 |
+
"start": 22,
|
| 55 |
+
"end": 29
|
| 56 |
+
},
|
| 57 |
+
"right_hand": {
|
| 58 |
+
"start": 29,
|
| 59 |
+
"end": 35
|
| 60 |
+
},
|
| 61 |
+
"right_leg": {
|
| 62 |
+
"start": 35,
|
| 63 |
+
"end": 41
|
| 64 |
+
},
|
| 65 |
+
"waist": {
|
| 66 |
+
"start": 41,
|
| 67 |
+
"end": 44
|
| 68 |
+
}
|
| 69 |
+
},
|
| 70 |
+
"video": {
|
| 71 |
+
"ego_view": {
|
| 72 |
+
"original_key": "observation.images.ego_view"
|
| 73 |
+
},
|
| 74 |
+
"left_wrist_view": {
|
| 75 |
+
"original_key": "observation.images.left_wrist_view"
|
| 76 |
+
},
|
| 77 |
+
"right_wrist_view": {
|
| 78 |
+
"original_key": "observation.images.right_wrist_view"
|
| 79 |
+
}
|
| 80 |
+
},
|
| 81 |
+
"annotation": {
|
| 82 |
+
"human.action.task_description": {},
|
| 83 |
+
"human.validity": {},
|
| 84 |
+
"human.coarse_action": {
|
| 85 |
+
"original_key": "annotation.human.action.task_description"
|
| 86 |
+
}
|
| 87 |
+
}
|
| 88 |
+
}
|
mixed_80_20/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "Use the left hand to grab the cylindrical container on the left side and pour its contents into the bowl"}
|
| 2 |
+
{"task_index": 1, "task": "valid"}
|
| 3 |
+
{"task_index": 2, "task": "Use the right hand to grab the cylindrical container on the right side and pour its contents into the bowl"}
|