diff --git a/README.md b/README.md index dc9fb46bbae70bcf0d2f57a37630302e942ee7b6..31b596620a49a05907d328e174ccd7181f8b5009 100644 --- a/README.md +++ b/README.md @@ -1,5 +1,13 @@ # SO-101 ICL pairs (368) +## Processed robot data with corrected instructions + +The [processed seed42 dataset](so101_hippovla_splits_seed42/README.md) contains 350 training episodes and 18 validation episodes in LeRobot v2.1 format. Its 22 English instructions specify cube colors, the left or right cup, and placement order. The original train/validation membership is preserved. + +Use the files under [`so101_hippovla_splits_seed42/`](so101_hippovla_splits_seed42) for the updated task labels. See its README for download instructions and the rel16 action convention. The source data below retains the original two generic instructions. + +## Original paired source data + Each line of `pairs.jsonl` is one successful teleop episode paired with one human video. The paths are relative to the dataset root, and the layout is the same as `Zero-WAM/data/SO101/raw`: diff --git a/so101_hippovla_splits_seed42/README.md b/so101_hippovla_splits_seed42/README.md new file mode 100644 index 0000000000000000000000000000000000000000..5792767800997f9c3608529d0545c60c21ae37c4 --- /dev/null +++ b/so101_hippovla_splits_seed42/README.md @@ -0,0 +1,60 @@ +# SO-101 processed robot demonstrations + +This directory contains 368 SO-101 robot trajectories in LeRobot v2.1 format, with English instructions that specify the cube colors, target cup, and placement order. The instructions were refined on 2026-11-02 using timestamped key-action frames from the robot demonstrations and the original task records. + +| Split | Episodes | Frames | Observed tasks | Directory | +|---|---:|---:|---:|---| +| Train | 350 | 237,110 | 22 | `so101_rel16_train/` | +| Validation | 18 | 11,260 | 12 | `so101_rel16_val/` | +| Total | 368 | 248,370 | 22 | | + +The original seed42 split is preserved. Episodes are disjoint between training and validation. This split was created from the two original coarse instructions; the validation set covers 12 of the 22 refined tasks. + +## Instructions + +There are six single-cube tasks and sixteen three-cube tasks. Both splits use the same 22-entry task dictionary. Examples: + +- `Put the black cube into the left cup.` +- `Put the green cube into the right cup.` +- `Put the black, green, and blue cubes into the left cup, in that order.` + +`meta/tasks.jsonl` maps task indices to instructions. Each episode's Parquet `task_index` column and its entry in `meta/episodes.jsonl` use these updated labels. `meta/source_episode_mapping.json` maps split episode indices to original episode indices. + +## Observations and actions + +Videos are 640 × 480 pixels at 30 FPS, with synchronized external and wrist camera views. Each MP4 is stored as a regular repository file and can be downloaded without access to the source server. + +State and action vectors contain five joint values in degrees followed by a continuous gripper value in percent: + +`shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper` + +The Parquet files contain absolute action targets. For the rel16 training convention, subtract the action chunk's initial observation state from the first five coordinates of each action target. Keep the sixth coordinate as an absolute continuous gripper target. Each action chunk contains 16 steps. The loader applies this conversion during training. + +`train_dataset_statistics.json` contains the training-set normalization statistics. Use these same training statistics for validation and deployment. The label update preserves the numerical actions, observations, and normalization values. + +## Download + +```python +from pathlib import Path +from huggingface_hub import snapshot_download + +root = Path(snapshot_download( + repo_id="Minko030/so101data", + repo_type="dataset", + allow_patterns="so101_hippovla_splits_seed42/**", + local_dir="so101data", +)) / "so101_hippovla_splits_seed42" +train = root / "so101_rel16_train" +validation = root / "so101_rel16_val" +``` + +Sampler index caches (`meta/steps_data_index.pkl`) are omitted; the training loader regenerates them. + +## Change records + +- `task_definitions.json`: all 22 task descriptions and episode counts. +- `episode_prompt_changes.csv`: original and updated instructions, split and source episode indices. +- `prompt_relabel_report.json`: review scope and verification results. This report also records paths to review artifacts retained on the source server. +- `split_manifest.json`: source episode membership for the seed42 split. + +The task review used key-action image sequences, rather than continuous native-video playback. The repository root contains the original paired source data and auxiliary human demonstrations; those source instructions retain their original wording. diff --git a/so101_hippovla_splits_seed42/episode_prompt_changes.csv b/so101_hippovla_splits_seed42/episode_prompt_changes.csv new file mode 100644 index 0000000000000000000000000000000000000000..110ccf291372f2a50c4de8ef03b84f857c0f9666 --- /dev/null +++ b/so101_hippovla_splits_seed42/episode_prompt_changes.csv @@ -0,0 +1,369 @@ +source_episode,split,episode_index,source_task,old_prompt,task_index,new_prompt,frames +0,train,0,black_left,Put the cube into the cup.,0,Put the black cube into the left cup.,505 +1,train,1,black_left,Put the cube into the cup.,0,Put the black cube into the left cup.,502 +2,train,2,black_left,Put the cube into the cup.,0,Put the black cube into the left cup.,444 +3,train,3,black_left,Put the cube into the cup.,0,Put the black cube into the left cup.,606 +4,train,4,black_left,Put the cube into the cup.,0,Put the black cube into the left cup.,487 +5,train,5,black_left,Put the cube into the cup.,0,Put the black cube into the left cup.,473 +6,train,6,black_left,Put the cube into the cup.,0,Put the black cube into the left cup.,480 +7,train,7,black_left,Put the cube into the cup.,0,Put the black cube into the left cup.,524 +8,train,8,black_left,Put the cube into the cup.,0,Put the black cube into the left cup.,555 +9,train,9,black_left,Put the cube into the cup.,0,Put the black cube into the left cup.,459 +10,train,10,black_left,Put the cube into the cup.,0,Put the black cube into the left cup.,497 +11,train,11,black_left,Put the cube into the cup.,0,Put the black cube into the left cup.,475 +12,train,12,black_left,Put the cube into the cup.,0,Put the black cube into the left cup.,533 +13,train,13,black_left,Put the cube into the cup.,0,Put the black cube into the left cup.,413 +14,train,14,black_left,Put the cube into the cup.,0,Put the black cube into the left cup.,485 +15,train,15,black_left,Put the cube into the cup.,0,Put the black cube into the left cup.,509 +16,train,16,black_left,Put the cube into the cup.,0,Put the black cube into the left cup.,467 +17,train,17,black_left,Put the cube into the cup.,0,Put the black cube into the left cup.,554 +18,train,18,black_left,Put the cube into the cup.,0,Put the black cube into the left cup.,433 +19,train,19,black_left,Put the cube into the cup.,0,Put the black cube into the left cup.,440 +20,val,0,black_left,Put the cube into the cup.,0,Put the black cube into the left cup.,435 +21,train,20,black_left,Put the cube into the cup.,0,Put the black cube into the left cup.,425 +22,val,1,black_left,Put the cube into the cup.,0,Put the black cube into the left cup.,494 +23,train,21,black_left,Put the cube into the cup.,0,Put the black cube into the left cup.,495 +24,train,22,black_left,Put the cube into the cup.,0,Put the black cube into the left cup.,451 +25,train,23,black_left,Put the cube into the cup.,0,Put the black cube into the left cup.,492 +26,train,24,black_left,Put the cube into the cup.,0,Put the black cube into the left cup.,480 +27,train,25,black_left,Put the cube into the cup.,0,Put the black cube into the left cup.,460 +28,train,26,black_left,Put the cube into the cup.,0,Put the black cube into the left cup.,476 +29,train,27,black_left,Put the cube into the cup.,0,Put the black cube into the left cup.,472 +30,train,28,black_left,Put the cube into the cup.,0,Put the black cube into the left cup.,447 +31,train,29,black_left,Put the cube into the cup.,0,Put the black cube into the left cup.,504 +32,train,30,black_left,Put the cube into the cup.,0,Put the black cube into the left cup.,534 +33,train,31,black_left,Put the cube into the cup.,0,Put the black cube into the left cup.,450 +34,train,32,black_left,Put the cube into the cup.,0,Put the black cube into the left cup.,440 +35,train,33,black_left,Put the cube into the cup.,0,Put the black cube into the left cup.,507 +36,train,34,black_left,Put the cube into the cup.,0,Put the black cube into the left cup.,470 +37,train,35,black_left,Put the cube into the cup.,0,Put the black cube into the left cup.,532 +38,train,36,black_left,Put the cube into the cup.,0,Put the black cube into the left cup.,438 +39,train,37,black_left,Put the cube into the cup.,0,Put the black cube into the left cup.,445 +40,train,38,black_right,Put the cube into the cup.,1,Put the black cube into the right cup.,415 +41,train,39,black_right,Put the cube into the cup.,1,Put the black cube into the right cup.,469 +42,train,40,black_right,Put the cube into the cup.,1,Put the black cube into the right cup.,519 +43,train,41,black_right,Put the cube into the cup.,1,Put the black cube into the right cup.,456 +44,train,42,black_right,Put the cube into the cup.,1,Put the black cube into the right cup.,489 +45,train,43,black_right,Put the cube into the cup.,1,Put the black cube into the right cup.,491 +46,train,44,black_right,Put the cube into the cup.,1,Put the black cube into the right cup.,532 +47,val,2,black_right,Put the cube into the cup.,1,Put the black cube into the right cup.,479 +48,train,45,black_right,Put the cube into the cup.,1,Put the black cube into the right cup.,490 +49,train,46,black_right,Put the cube into the cup.,1,Put the black cube into the right cup.,541 +50,train,47,black_right,Put the cube into the cup.,1,Put the black cube into the right cup.,481 +51,train,48,black_right,Put the cube into the cup.,1,Put the black cube into the right cup.,421 +52,train,49,black_right,Put the cube into the cup.,1,Put the black cube into the right cup.,436 +53,train,50,black_right,Put the cube into the cup.,1,Put the black cube into the right cup.,505 +54,train,51,black_right,Put the cube into the cup.,1,Put the black cube into the right cup.,485 +55,train,52,black_right,Put the cube into the cup.,1,Put the black cube into the right cup.,448 +56,train,53,black_right,Put the cube into the cup.,1,Put the black cube into the right cup.,419 +57,train,54,black_right,Put the cube into the cup.,1,Put the black cube into the right cup.,458 +58,train,55,black_right,Put the cube into the cup.,1,Put the black cube into the right cup.,456 +59,train,56,black_right,Put the cube into the cup.,1,Put the black cube into the right cup.,456 +60,train,57,black_right,Put the cube into the cup.,1,Put the black cube into the right cup.,479 +61,train,58,black_right,Put the cube into the cup.,1,Put the black cube into the right cup.,468 +62,train,59,black_right,Put the cube into the cup.,1,Put the black cube into the right cup.,475 +63,train,60,black_right,Put the cube into the cup.,1,Put the black cube into the right cup.,468 +64,train,61,black_right,Put the cube into the cup.,1,Put the black cube into the right cup.,461 +65,train,62,black_right,Put the cube into the cup.,1,Put the black cube into the right cup.,491 +66,train,63,black_right,Put the cube into the cup.,1,Put the black cube into the right cup.,427 +67,train,64,black_right,Put the cube into the cup.,1,Put the black cube into the right cup.,505 +68,train,65,black_right,Put the cube into the cup.,1,Put the black cube into the right cup.,434 +69,train,66,black_right,Put the cube into the cup.,1,Put the black cube into the right cup.,408 +70,train,67,black_right,Put the cube into the cup.,1,Put the black cube into the right cup.,447 +71,train,68,black_right,Put the cube into the cup.,1,Put the black cube into the right cup.,473 +72,train,69,black_right,Put the cube into the cup.,1,Put the black cube into the right cup.,410 +73,train,70,black_right,Put the cube into the cup.,1,Put the black cube into the right cup.,442 +74,train,71,black_right,Put the cube into the cup.,1,Put the black cube into the right cup.,451 +75,train,72,black_right,Put the cube into the cup.,1,Put the black cube into the right cup.,459 +76,train,73,black_right,Put the cube into the cup.,1,Put the black cube into the right cup.,386 +77,train,74,black_right,Put the cube into the cup.,1,Put the black cube into the right cup.,439 +78,train,75,black_right,Put the cube into the cup.,1,Put the black cube into the right cup.,394 +79,train,76,black_right,Put the cube into the cup.,1,Put the black cube into the right cup.,408 +80,train,77,green_left,Put the cube into the cup.,2,Put the green cube into the left cup.,379 +81,train,78,green_left,Put the cube into the cup.,2,Put the green cube into the left cup.,469 +82,train,79,green_left,Put the cube into the cup.,2,Put the green cube into the left cup.,444 +83,train,80,green_left,Put the cube into the cup.,2,Put the green cube into the left cup.,451 +84,train,81,green_left,Put the cube into the cup.,2,Put the green cube into the left cup.,430 +85,train,82,green_left,Put the cube into the cup.,2,Put the green cube into the left cup.,458 +86,train,83,green_left,Put the cube into the cup.,2,Put the green cube into the left cup.,422 +87,train,84,green_left,Put the cube into the cup.,2,Put the green cube into the left cup.,427 +88,train,85,green_left,Put the cube into the cup.,2,Put the green cube into the left cup.,469 +89,train,86,green_left,Put the cube into the cup.,2,Put the green cube into the left cup.,447 +90,train,87,green_left,Put the cube into the cup.,2,Put the green cube into the left cup.,414 +91,train,88,green_left,Put the cube into the cup.,2,Put the green cube into the left cup.,422 +92,train,89,green_left,Put the cube into the cup.,2,Put the green cube into the left cup.,374 +93,train,90,green_left,Put the cube into the cup.,2,Put the green cube into the left cup.,435 +94,train,91,green_left,Put the cube into the cup.,2,Put the green cube into the left cup.,443 +95,train,92,green_left,Put the cube into the cup.,2,Put the green cube into the left cup.,433 +96,train,93,green_left,Put the cube into the cup.,2,Put the green cube into the left cup.,468 +97,train,94,green_left,Put the cube into the cup.,2,Put the green cube into the left cup.,487 +98,train,95,green_left,Put the cube into the cup.,2,Put the green cube into the left cup.,458 +99,train,96,green_left,Put the cube into the cup.,2,Put the green cube into the left cup.,450 +100,val,3,green_left,Put the cube into the cup.,2,Put the green cube into the left cup.,438 +101,val,4,green_left,Put the cube into the cup.,2,Put the green cube into the left cup.,413 +102,train,97,green_left,Put the cube into the cup.,2,Put the green cube into the left cup.,434 +103,train,98,green_left,Put the cube into the cup.,2,Put the green cube into the left cup.,466 +104,train,99,green_left,Put the cube into the cup.,2,Put the green cube into the left cup.,452 +105,train,100,green_left,Put the cube into the cup.,2,Put the green cube into the left cup.,402 +106,train,101,green_left,Put the cube into the cup.,2,Put the green cube into the left cup.,485 +107,train,102,green_left,Put the cube into the cup.,2,Put the green cube into the left cup.,471 +108,train,103,green_left,Put the cube into the cup.,2,Put the green cube into the left cup.,442 +109,train,104,green_left,Put the cube into the cup.,2,Put the green cube into the left cup.,397 +110,train,105,green_left,Put the cube into the cup.,2,Put the green cube into the left cup.,388 +111,train,106,green_left,Put the cube into the cup.,2,Put the green cube into the left cup.,482 +112,train,107,green_left,Put the cube into the cup.,2,Put the green cube into the left cup.,452 +113,train,108,green_left,Put the cube into the cup.,2,Put the green cube into the left cup.,444 +114,train,109,green_left,Put the cube into the cup.,2,Put the green cube into the left cup.,458 +115,train,110,green_left,Put the cube into the cup.,2,Put the green cube into the left cup.,499 +116,train,111,green_left,Put the cube into the cup.,2,Put the green cube into the left cup.,437 +117,train,112,green_left,Put the cube into the cup.,2,Put the green cube into the left cup.,421 +118,train,113,green_left,Put the cube into the cup.,2,Put the green cube into the left cup.,429 +119,train,114,green_left,Put the cube into the cup.,2,Put the green cube into the left cup.,456 +120,train,115,green_right,Put the cube into the cup.,3,Put the green cube into the right cup.,439 +121,train,116,green_right,Put the cube into the cup.,3,Put the green cube into the right cup.,395 +122,train,117,green_right,Put the cube into the cup.,3,Put the green cube into the right cup.,411 +123,train,118,green_right,Put the cube into the cup.,3,Put the green cube into the right cup.,423 +124,train,119,green_right,Put the cube into the cup.,3,Put the green cube into the right cup.,387 +125,val,5,green_right,Put the cube into the cup.,3,Put the green cube into the right cup.,412 +126,train,120,green_right,Put the cube into the cup.,3,Put the green cube into the right cup.,435 +127,train,121,green_right,Put the cube into the cup.,3,Put the green cube into the right cup.,460 +128,train,122,green_right,Put the cube into the cup.,3,Put the green cube into the right cup.,435 +129,train,123,green_right,Put the cube into the cup.,3,Put the green cube into the right cup.,464 +130,train,124,green_right,Put the cube into the cup.,3,Put the green cube into the right cup.,378 +131,train,125,green_right,Put the cube into the cup.,3,Put the green cube into the right cup.,443 +132,train,126,green_right,Put the cube into the cup.,3,Put the green cube into the right cup.,406 +133,train,127,green_right,Put the cube into the cup.,3,Put the green cube into the right cup.,411 +134,train,128,green_right,Put the cube into the cup.,3,Put the green cube into the right cup.,410 +135,train,129,green_right,Put the cube into the cup.,3,Put the green cube into the right cup.,420 +136,train,130,green_right,Put the cube into the cup.,3,Put the green cube into the right cup.,430 +137,train,131,green_right,Put the cube into the cup.,3,Put the green cube into the right cup.,466 +138,train,132,green_right,Put the cube into the cup.,3,Put the green cube into the right cup.,438 +139,train,133,green_right,Put the cube into the cup.,3,Put the green cube into the right cup.,476 +140,train,134,green_right,Put the cube into the cup.,3,Put the green cube into the right cup.,465 +141,train,135,green_right,Put the cube into the cup.,3,Put the green cube into the right cup.,463 +142,train,136,green_right,Put the cube into the cup.,3,Put the green cube into the right cup.,481 +143,train,137,green_right,Put the cube into the cup.,3,Put the green cube into the right cup.,430 +144,train,138,green_right,Put the cube into the cup.,3,Put the green cube into the right cup.,491 +145,train,139,green_right,Put the cube into the cup.,3,Put the green cube into the right cup.,418 +146,train,140,green_right,Put the cube into the cup.,3,Put the green cube into the right cup.,458 +147,train,141,green_right,Put the cube into the cup.,3,Put the green cube into the right cup.,456 +148,train,142,green_right,Put the cube into the cup.,3,Put the green cube into the right cup.,386 +149,train,143,green_right,Put the cube into the cup.,3,Put the green cube into the right cup.,480 +150,train,144,green_right,Put the cube into the cup.,3,Put the green cube into the right cup.,425 +151,val,6,green_right,Put the cube into the cup.,3,Put the green cube into the right cup.,381 +152,train,145,green_right,Put the cube into the cup.,3,Put the green cube into the right cup.,376 +153,train,146,green_right,Put the cube into the cup.,3,Put the green cube into the right cup.,367 +154,train,147,green_right,Put the cube into the cup.,3,Put the green cube into the right cup.,404 +155,train,148,green_right,Put the cube into the cup.,3,Put the green cube into the right cup.,418 +156,train,149,green_right,Put the cube into the cup.,3,Put the green cube into the right cup.,399 +157,train,150,green_right,Put the cube into the cup.,3,Put the green cube into the right cup.,361 +158,train,151,green_right,Put the cube into the cup.,3,Put the green cube into the right cup.,431 +159,train,152,green_right,Put the cube into the cup.,3,Put the green cube into the right cup.,385 +160,train,153,blue_left,Put the cube into the cup.,4,Put the blue cube into the left cup.,380 +161,train,154,blue_left,Put the cube into the cup.,4,Put the blue cube into the left cup.,398 +162,train,155,blue_left,Put the cube into the cup.,4,Put the blue cube into the left cup.,426 +163,train,156,blue_left,Put the cube into the cup.,4,Put the blue cube into the left cup.,442 +164,val,7,blue_left,Put the cube into the cup.,4,Put the blue cube into the left cup.,381 +165,train,157,blue_left,Put the cube into the cup.,4,Put the blue cube into the left cup.,419 +166,train,158,blue_left,Put the cube into the cup.,4,Put the blue cube into the left cup.,420 +167,train,159,blue_left,Put the cube into the cup.,4,Put the blue cube into the left cup.,491 +168,train,160,blue_left,Put the cube into the cup.,4,Put the blue cube into the left cup.,395 +169,train,161,blue_left,Put the cube into the cup.,4,Put the blue cube into the left cup.,450 +170,train,162,blue_left,Put the cube into the cup.,4,Put the blue cube into the left cup.,442 +171,train,163,blue_left,Put the cube into the cup.,4,Put the blue cube into the left cup.,384 +172,train,164,blue_left,Put the cube into the cup.,4,Put the blue cube into the left cup.,406 +173,train,165,blue_left,Put the cube into the cup.,4,Put the blue cube into the left cup.,396 +174,train,166,blue_left,Put the cube into the cup.,4,Put the blue cube into the left cup.,454 +175,train,167,blue_left,Put the cube into the cup.,4,Put the blue cube into the left cup.,411 +176,train,168,blue_left,Put the cube into the cup.,4,Put the blue cube into the left cup.,389 +177,train,169,blue_left,Put the cube into the cup.,4,Put the blue cube into the left cup.,426 +178,val,8,blue_left,Put the cube into the cup.,4,Put the blue cube into the left cup.,385 +179,train,170,blue_left,Put the cube into the cup.,4,Put the blue cube into the left cup.,473 +180,train,171,blue_left,Put the cube into the cup.,4,Put the blue cube into the left cup.,378 +181,train,172,blue_left,Put the cube into the cup.,4,Put the blue cube into the left cup.,425 +182,train,173,blue_left,Put the cube into the cup.,4,Put the blue cube into the left cup.,426 +183,train,174,blue_left,Put the cube into the cup.,4,Put the blue cube into the left cup.,390 +184,train,175,blue_left,Put the cube into the cup.,4,Put the blue cube into the left cup.,470 +185,train,176,blue_left,Put the cube into the cup.,4,Put the blue cube into the left cup.,461 +186,train,177,blue_left,Put the cube into the cup.,4,Put the blue cube into the left cup.,440 +187,train,178,blue_left,Put the cube into the cup.,4,Put the blue cube into the left cup.,386 +188,train,179,blue_left,Put the cube into the cup.,4,Put the blue cube into the left cup.,430 +189,train,180,blue_left,Put the cube into the cup.,4,Put the blue cube into the left cup.,442 +190,train,181,blue_left,Put the cube into the cup.,4,Put the blue cube into the left cup.,430 +191,train,182,blue_left,Put the cube into the cup.,4,Put the blue cube into the left cup.,429 +192,train,183,blue_left,Put the cube into the cup.,4,Put the blue cube into the left cup.,441 +193,train,184,blue_left,Put the cube into the cup.,4,Put the blue cube into the left cup.,436 +194,train,185,blue_left,Put the cube into the cup.,4,Put the blue cube into the left cup.,452 +195,train,186,blue_left,Put the cube into the cup.,4,Put the blue cube into the left cup.,409 +196,train,187,blue_left,Put the cube into the cup.,4,Put the blue cube into the left cup.,367 +197,train,188,blue_left,Put the cube into the cup.,4,Put the blue cube into the left cup.,400 +198,train,189,blue_left,Put the cube into the cup.,4,Put the blue cube into the left cup.,454 +199,train,190,blue_left,Put the cube into the cup.,4,Put the blue cube into the left cup.,407 +200,val,9,gray_right,Put the cube into the cup.,5,Put the gray cube into the right cup.,409 +201,train,191,gray_right,Put the cube into the cup.,5,Put the gray cube into the right cup.,376 +202,train,192,gray_right,Put the cube into the cup.,5,Put the gray cube into the right cup.,345 +203,train,193,gray_right,Put the cube into the cup.,5,Put the gray cube into the right cup.,408 +204,train,194,gray_right,Put the cube into the cup.,5,Put the gray cube into the right cup.,395 +205,train,195,gray_right,Put the cube into the cup.,5,Put the gray cube into the right cup.,375 +206,train,196,gray_right,Put the cube into the cup.,5,Put the gray cube into the right cup.,388 +207,train,197,gray_right,Put the cube into the cup.,5,Put the gray cube into the right cup.,445 +208,train,198,gray_right,Put the cube into the cup.,5,Put the gray cube into the right cup.,391 +209,train,199,gray_right,Put the cube into the cup.,5,Put the gray cube into the right cup.,434 +210,train,200,gray_right,Put the cube into the cup.,5,Put the gray cube into the right cup.,371 +211,train,201,gray_right,Put the cube into the cup.,5,Put the gray cube into the right cup.,390 +212,train,202,gray_right,Put the cube into the cup.,5,Put the gray cube into the right cup.,461 +213,train,203,gray_right,Put the cube into the cup.,5,Put the gray cube into the right cup.,452 +214,train,204,gray_right,Put the cube into the cup.,5,Put the gray cube into the right cup.,470 +215,train,205,gray_right,Put the cube into the cup.,5,Put the gray cube into the right cup.,377 +216,train,206,gray_right,Put the cube into the cup.,5,Put the gray cube into the right cup.,412 +217,train,207,gray_right,Put the cube into the cup.,5,Put the gray cube into the right cup.,390 +218,train,208,gray_right,Put the cube into the cup.,5,Put the gray cube into the right cup.,412 +219,train,209,gray_right,Put the cube into the cup.,5,Put the gray cube into the right cup.,395 +220,train,210,gray_right,Put the cube into the cup.,5,Put the gray cube into the right cup.,395 +221,train,211,gray_right,Put the cube into the cup.,5,Put the gray cube into the right cup.,430 +222,train,212,gray_right,Put the cube into the cup.,5,Put the gray cube into the right cup.,425 +223,train,213,gray_right,Put the cube into the cup.,5,Put the gray cube into the right cup.,421 +224,train,214,gray_right,Put the cube into the cup.,5,Put the gray cube into the right cup.,433 +225,train,215,gray_right,Put the cube into the cup.,5,Put the gray cube into the right cup.,426 +226,train,216,gray_right,Put the cube into the cup.,5,Put the gray cube into the right cup.,435 +227,train,217,gray_right,Put the cube into the cup.,5,Put the gray cube into the right cup.,435 +228,train,218,gray_right,Put the cube into the cup.,5,Put the gray cube into the right cup.,443 +229,train,219,gray_right,Put the cube into the cup.,5,Put the gray cube into the right cup.,499 +230,train,220,gray_right,Put the cube into the cup.,5,Put the gray cube into the right cup.,389 +231,train,221,gray_right,Put the cube into the cup.,5,Put the gray cube into the right cup.,381 +232,train,222,gray_right,Put the cube into the cup.,5,Put the gray cube into the right cup.,403 +233,train,223,gray_right,Put the cube into the cup.,5,Put the gray cube into the right cup.,403 +234,val,10,gray_right,Put the cube into the cup.,5,Put the gray cube into the right cup.,365 +235,train,224,gray_right,Put the cube into the cup.,5,Put the gray cube into the right cup.,408 +236,train,225,gray_right,Put the cube into the cup.,5,Put the gray cube into the right cup.,480 +237,train,226,gray_right,Put the cube into the cup.,5,Put the gray cube into the right cup.,405 +238,train,227,gray_right,Put the cube into the cup.,5,Put the gray cube into the right cup.,409 +239,val,11,gray_right,Put the cube into the cup.,5,Put the gray cube into the right cup.,423 +240,train,228,black_green_blue_left,Put three cubes into the cup.,6,"Put the black, green, and blue cubes into the left cup, in that order.",1409 +241,train,229,black_green_blue_left,Put three cubes into the cup.,6,"Put the black, green, and blue cubes into the left cup, in that order.",1269 +242,train,230,black_green_blue_left,Put three cubes into the cup.,6,"Put the black, green, and blue cubes into the left cup, in that order.",1286 +243,train,231,black_green_blue_left,Put three cubes into the cup.,6,"Put the black, green, and blue cubes into the left cup, in that order.",1251 +244,train,232,black_green_blue_left,Put three cubes into the cup.,6,"Put the black, green, and blue cubes into the left cup, in that order.",1279 +245,train,233,black_green_blue_left,Put three cubes into the cup.,6,"Put the black, green, and blue cubes into the left cup, in that order.",1222 +246,train,234,black_green_blue_left,Put three cubes into the cup.,6,"Put the black, green, and blue cubes into the left cup, in that order.",1177 +247,train,235,black_green_blue_left,Put three cubes into the cup.,6,"Put the black, green, and blue cubes into the left cup, in that order.",1274 +248,train,236,black_green_gray_right,Put three cubes into the cup.,7,"Put the black, green, and gray cubes into the right cup, in that order.",1072 +249,train,237,black_green_gray_right,Put three cubes into the cup.,7,"Put the black, green, and gray cubes into the right cup, in that order.",1176 +250,train,238,black_green_gray_right,Put three cubes into the cup.,7,"Put the black, green, and gray cubes into the right cup, in that order.",1351 +251,train,239,black_green_gray_right,Put three cubes into the cup.,7,"Put the black, green, and gray cubes into the right cup, in that order.",1246 +252,train,240,black_green_gray_right,Put three cubes into the cup.,7,"Put the black, green, and gray cubes into the right cup, in that order.",1287 +253,train,241,black_green_gray_right,Put three cubes into the cup.,7,"Put the black, green, and gray cubes into the right cup, in that order.",1147 +254,train,242,black_green_gray_right,Put three cubes into the cup.,7,"Put the black, green, and gray cubes into the right cup, in that order.",1100 +255,train,243,black_green_gray_right,Put three cubes into the cup.,7,"Put the black, green, and gray cubes into the right cup, in that order.",1154 +256,train,244,black_blue_green_right,Put three cubes into the cup.,8,"Put the black, blue, and green cubes into the right cup, in that order.",1193 +257,train,245,black_blue_green_right,Put three cubes into the cup.,8,"Put the black, blue, and green cubes into the right cup, in that order.",1242 +258,train,246,black_blue_green_right,Put three cubes into the cup.,8,"Put the black, blue, and green cubes into the right cup, in that order.",1170 +259,train,247,black_blue_green_right,Put three cubes into the cup.,8,"Put the black, blue, and green cubes into the right cup, in that order.",1248 +260,train,248,black_blue_green_right,Put three cubes into the cup.,8,"Put the black, blue, and green cubes into the right cup, in that order.",1216 +261,train,249,black_blue_green_right,Put three cubes into the cup.,8,"Put the black, blue, and green cubes into the right cup, in that order.",1332 +262,train,250,black_blue_green_right,Put three cubes into the cup.,8,"Put the black, blue, and green cubes into the right cup, in that order.",1194 +263,train,251,black_blue_green_right,Put three cubes into the cup.,8,"Put the black, blue, and green cubes into the right cup, in that order.",1213 +264,train,252,black_gray_blue_left,Put three cubes into the cup.,9,"Put the black, gray, and blue cubes into the left cup, in that order.",1106 +265,train,253,black_gray_blue_left,Put three cubes into the cup.,9,"Put the black, gray, and blue cubes into the left cup, in that order.",1285 +266,train,254,black_gray_blue_left,Put three cubes into the cup.,9,"Put the black, gray, and blue cubes into the left cup, in that order.",1257 +267,train,255,black_gray_blue_left,Put three cubes into the cup.,9,"Put the black, gray, and blue cubes into the left cup, in that order.",1183 +268,train,256,black_gray_blue_left,Put three cubes into the cup.,9,"Put the black, gray, and blue cubes into the left cup, in that order.",1184 +269,train,257,black_gray_blue_left,Put three cubes into the cup.,9,"Put the black, gray, and blue cubes into the left cup, in that order.",1238 +270,train,258,black_gray_blue_left,Put three cubes into the cup.,9,"Put the black, gray, and blue cubes into the left cup, in that order.",1189 +271,train,259,black_gray_blue_left,Put three cubes into the cup.,9,"Put the black, gray, and blue cubes into the left cup, in that order.",1243 +272,train,260,green_black_blue_left,Put three cubes into the cup.,10,"Put the green, black, and blue cubes into the left cup, in that order.",1109 +273,train,261,green_black_blue_left,Put three cubes into the cup.,10,"Put the green, black, and blue cubes into the left cup, in that order.",1165 +274,train,262,green_black_blue_left,Put three cubes into the cup.,10,"Put the green, black, and blue cubes into the left cup, in that order.",1165 +275,train,263,green_black_blue_left,Put three cubes into the cup.,10,"Put the green, black, and blue cubes into the left cup, in that order.",1111 +276,train,264,green_black_blue_left,Put three cubes into the cup.,10,"Put the green, black, and blue cubes into the left cup, in that order.",1062 +277,train,265,green_black_blue_left,Put three cubes into the cup.,10,"Put the green, black, and blue cubes into the left cup, in that order.",1120 +278,train,266,green_black_blue_left,Put three cubes into the cup.,10,"Put the green, black, and blue cubes into the left cup, in that order.",1023 +279,train,267,green_black_blue_left,Put three cubes into the cup.,10,"Put the green, black, and blue cubes into the left cup, in that order.",1176 +280,train,268,green_black_gray_right,Put three cubes into the cup.,11,"Put the green, black, and gray cubes into the right cup, in that order.",991 +281,train,269,green_black_gray_right,Put three cubes into the cup.,11,"Put the green, black, and gray cubes into the right cup, in that order.",979 +282,train,270,green_black_gray_right,Put three cubes into the cup.,11,"Put the green, black, and gray cubes into the right cup, in that order.",1031 +283,train,271,green_black_gray_right,Put three cubes into the cup.,11,"Put the green, black, and gray cubes into the right cup, in that order.",995 +284,train,272,green_black_gray_right,Put three cubes into the cup.,11,"Put the green, black, and gray cubes into the right cup, in that order.",1148 +285,train,273,green_black_gray_right,Put three cubes into the cup.,11,"Put the green, black, and gray cubes into the right cup, in that order.",1206 +286,train,274,green_black_gray_right,Put three cubes into the cup.,11,"Put the green, black, and gray cubes into the right cup, in that order.",1013 +287,train,275,green_black_gray_right,Put three cubes into the cup.,11,"Put the green, black, and gray cubes into the right cup, in that order.",1137 +288,train,276,green_blue_gray_left,Put three cubes into the cup.,12,"Put the green, blue, and gray cubes into the left cup, in that order.",1041 +289,train,277,green_blue_gray_left,Put three cubes into the cup.,12,"Put the green, blue, and gray cubes into the left cup, in that order.",1092 +290,val,12,green_blue_gray_left,Put three cubes into the cup.,12,"Put the green, blue, and gray cubes into the left cup, in that order.",1029 +291,train,278,green_blue_gray_left,Put three cubes into the cup.,12,"Put the green, blue, and gray cubes into the left cup, in that order.",928 +292,train,279,green_blue_gray_left,Put three cubes into the cup.,12,"Put the green, blue, and gray cubes into the left cup, in that order.",959 +293,train,280,green_blue_gray_left,Put three cubes into the cup.,12,"Put the green, blue, and gray cubes into the left cup, in that order.",1147 +294,train,281,green_blue_gray_left,Put three cubes into the cup.,12,"Put the green, blue, and gray cubes into the left cup, in that order.",1005 +295,train,282,green_blue_gray_left,Put three cubes into the cup.,12,"Put the green, blue, and gray cubes into the left cup, in that order.",953 +296,train,283,green_gray_black_right,Put three cubes into the cup.,13,"Put the green, gray, and black cubes into the right cup, in that order.",1039 +297,train,284,green_gray_black_right,Put three cubes into the cup.,13,"Put the green, gray, and black cubes into the right cup, in that order.",1026 +298,train,285,green_gray_black_right,Put three cubes into the cup.,13,"Put the green, gray, and black cubes into the right cup, in that order.",1099 +299,train,286,green_gray_black_right,Put three cubes into the cup.,13,"Put the green, gray, and black cubes into the right cup, in that order.",1201 +300,train,287,green_gray_black_right,Put three cubes into the cup.,13,"Put the green, gray, and black cubes into the right cup, in that order.",1133 +301,train,288,green_gray_black_right,Put three cubes into the cup.,13,"Put the green, gray, and black cubes into the right cup, in that order.",1070 +302,train,289,green_gray_black_right,Put three cubes into the cup.,13,"Put the green, gray, and black cubes into the right cup, in that order.",999 +303,train,290,green_gray_black_right,Put three cubes into the cup.,13,"Put the green, gray, and black cubes into the right cup, in that order.",1152 +304,train,291,blue_black_green_right,Put three cubes into the cup.,14,"Put the blue, black, and green cubes into the right cup, in that order.",1176 +305,train,292,blue_black_green_right,Put three cubes into the cup.,14,"Put the blue, black, and green cubes into the right cup, in that order.",1047 +306,train,293,blue_black_green_right,Put three cubes into the cup.,14,"Put the blue, black, and green cubes into the right cup, in that order.",1176 +307,train,294,blue_black_green_right,Put three cubes into the cup.,14,"Put the blue, black, and green cubes into the right cup, in that order.",1107 +308,train,295,blue_black_green_right,Put three cubes into the cup.,14,"Put the blue, black, and green cubes into the right cup, in that order.",1056 +309,val,13,blue_black_green_right,Put three cubes into the cup.,14,"Put the blue, black, and green cubes into the right cup, in that order.",1112 +310,train,296,blue_black_green_right,Put three cubes into the cup.,14,"Put the blue, black, and green cubes into the right cup, in that order.",1170 +311,train,297,blue_black_green_right,Put three cubes into the cup.,14,"Put the blue, black, and green cubes into the right cup, in that order.",1052 +312,train,298,blue_green_black_left,Put three cubes into the cup.,15,"Put the blue, green, and black cubes into the left cup, in that order.",1068 +313,train,299,blue_green_black_left,Put three cubes into the cup.,15,"Put the blue, green, and black cubes into the left cup, in that order.",1181 +314,train,300,blue_green_black_left,Put three cubes into the cup.,15,"Put the blue, green, and black cubes into the left cup, in that order.",1005 +315,train,301,blue_green_black_left,Put three cubes into the cup.,15,"Put the blue, green, and black cubes into the left cup, in that order.",1164 +316,train,302,blue_green_black_left,Put three cubes into the cup.,15,"Put the blue, green, and black cubes into the left cup, in that order.",1133 +317,train,303,blue_green_black_left,Put three cubes into the cup.,15,"Put the blue, green, and black cubes into the left cup, in that order.",1026 +318,train,304,blue_green_black_left,Put three cubes into the cup.,15,"Put the blue, green, and black cubes into the left cup, in that order.",1233 +319,train,305,blue_green_black_left,Put three cubes into the cup.,15,"Put the blue, green, and black cubes into the left cup, in that order.",1126 +320,val,14,blue_gray_green_right,Put three cubes into the cup.,16,"Put the blue, gray, and green cubes into the right cup, in that order.",977 +321,train,306,blue_gray_green_right,Put three cubes into the cup.,16,"Put the blue, gray, and green cubes into the right cup, in that order.",1177 +322,train,307,blue_gray_green_right,Put three cubes into the cup.,16,"Put the blue, gray, and green cubes into the right cup, in that order.",1156 +323,train,308,blue_gray_green_right,Put three cubes into the cup.,16,"Put the blue, gray, and green cubes into the right cup, in that order.",1207 +324,train,309,blue_gray_green_right,Put three cubes into the cup.,16,"Put the blue, gray, and green cubes into the right cup, in that order.",1230 +325,train,310,blue_gray_green_right,Put three cubes into the cup.,16,"Put the blue, gray, and green cubes into the right cup, in that order.",1010 +326,train,311,blue_gray_green_right,Put three cubes into the cup.,16,"Put the blue, gray, and green cubes into the right cup, in that order.",1037 +327,train,312,blue_gray_green_right,Put three cubes into the cup.,16,"Put the blue, gray, and green cubes into the right cup, in that order.",1125 +328,train,313,blue_black_gray_left,Put three cubes into the cup.,17,"Put the blue, black, and gray cubes into the left cup, in that order.",1082 +329,train,314,blue_black_gray_left,Put three cubes into the cup.,17,"Put the blue, black, and gray cubes into the left cup, in that order.",1145 +330,train,315,blue_black_gray_left,Put three cubes into the cup.,17,"Put the blue, black, and gray cubes into the left cup, in that order.",1034 +331,train,316,blue_black_gray_left,Put three cubes into the cup.,17,"Put the blue, black, and gray cubes into the left cup, in that order.",1153 +332,train,317,blue_black_gray_left,Put three cubes into the cup.,17,"Put the blue, black, and gray cubes into the left cup, in that order.",1062 +333,train,318,blue_black_gray_left,Put three cubes into the cup.,17,"Put the blue, black, and gray cubes into the left cup, in that order.",1083 +334,train,319,blue_black_gray_left,Put three cubes into the cup.,17,"Put the blue, black, and gray cubes into the left cup, in that order.",1097 +335,train,320,blue_black_gray_left,Put three cubes into the cup.,17,"Put the blue, black, and gray cubes into the left cup, in that order.",1124 +336,val,15,gray_black_green_left,Put three cubes into the cup.,18,"Put the gray, black, and green cubes into the left cup, in that order.",1025 +337,train,321,gray_black_green_left,Put three cubes into the cup.,18,"Put the gray, black, and green cubes into the left cup, in that order.",1022 +338,train,322,gray_black_green_left,Put three cubes into the cup.,18,"Put the gray, black, and green cubes into the left cup, in that order.",1020 +339,train,323,gray_black_green_left,Put three cubes into the cup.,18,"Put the gray, black, and green cubes into the left cup, in that order.",1026 +340,train,324,gray_black_green_left,Put three cubes into the cup.,18,"Put the gray, black, and green cubes into the left cup, in that order.",1221 +341,train,325,gray_black_green_left,Put three cubes into the cup.,18,"Put the gray, black, and green cubes into the left cup, in that order.",1203 +342,train,326,gray_black_green_left,Put three cubes into the cup.,18,"Put the gray, black, and green cubes into the left cup, in that order.",1086 +343,train,327,gray_black_green_left,Put three cubes into the cup.,18,"Put the gray, black, and green cubes into the left cup, in that order.",1034 +344,val,16,gray_green_blue_right,Put three cubes into the cup.,19,"Put the gray, green, and blue cubes into the right cup, in that order.",1097 +345,train,328,gray_green_blue_right,Put three cubes into the cup.,19,"Put the gray, green, and blue cubes into the right cup, in that order.",1104 +346,train,329,gray_green_blue_right,Put three cubes into the cup.,19,"Put the gray, green, and blue cubes into the right cup, in that order.",1096 +347,train,330,gray_green_blue_right,Put three cubes into the cup.,19,"Put the gray, green, and blue cubes into the right cup, in that order.",1042 +348,train,331,gray_green_blue_right,Put three cubes into the cup.,19,"Put the gray, green, and blue cubes into the right cup, in that order.",1045 +349,train,332,gray_green_blue_right,Put three cubes into the cup.,19,"Put the gray, green, and blue cubes into the right cup, in that order.",1231 +350,train,333,gray_green_blue_right,Put three cubes into the cup.,19,"Put the gray, green, and blue cubes into the right cup, in that order.",1010 +351,train,334,gray_green_blue_right,Put three cubes into the cup.,19,"Put the gray, green, and blue cubes into the right cup, in that order.",1098 +352,train,335,gray_blue_black_left,Put three cubes into the cup.,20,"Put the gray, blue, and black cubes into the left cup, in that order.",1028 +353,val,17,gray_blue_black_left,Put three cubes into the cup.,20,"Put the gray, blue, and black cubes into the left cup, in that order.",1005 +354,train,336,gray_blue_black_left,Put three cubes into the cup.,20,"Put the gray, blue, and black cubes into the left cup, in that order.",1113 +355,train,337,gray_blue_black_left,Put three cubes into the cup.,20,"Put the gray, blue, and black cubes into the left cup, in that order.",1050 +356,train,338,gray_blue_black_left,Put three cubes into the cup.,20,"Put the gray, blue, and black cubes into the left cup, in that order.",977 +357,train,339,gray_blue_black_left,Put three cubes into the cup.,20,"Put the gray, blue, and black cubes into the left cup, in that order.",1131 +358,train,340,gray_blue_black_left,Put three cubes into the cup.,20,"Put the gray, blue, and black cubes into the left cup, in that order.",1091 +359,train,341,gray_blue_black_left,Put three cubes into the cup.,20,"Put the gray, blue, and black cubes into the left cup, in that order.",1044 +360,train,342,gray_green_black_right,Put three cubes into the cup.,21,"Put the gray, green, and black cubes into the right cup, in that order.",939 +361,train,343,gray_green_black_right,Put three cubes into the cup.,21,"Put the gray, green, and black cubes into the right cup, in that order.",977 +362,train,344,gray_green_black_right,Put three cubes into the cup.,21,"Put the gray, green, and black cubes into the right cup, in that order.",968 +363,train,345,gray_green_black_right,Put three cubes into the cup.,21,"Put the gray, green, and black cubes into the right cup, in that order.",1065 +364,train,346,gray_green_black_right,Put three cubes into the cup.,21,"Put the gray, green, and black cubes into the right cup, in that order.",955 +365,train,347,gray_green_black_right,Put three cubes into the cup.,21,"Put the gray, green, and black cubes into the right cup, in that order.",983 +366,train,348,gray_green_black_right,Put three cubes into the cup.,21,"Put the gray, green, and black cubes into the right cup, in that order.",933 +367,train,349,gray_green_black_right,Put three cubes into the cup.,21,"Put the gray, green, and black cubes into the right cup, in that order.",1059 diff --git a/so101_hippovla_splits_seed42/prompt_relabel_report.json b/so101_hippovla_splits_seed42/prompt_relabel_report.json new file mode 100644 index 0000000000000000000000000000000000000000..50f9e0fb7a4f0be6f032e3e1160b1e5da5ed55cf --- /dev/null +++ b/so101_hippovla_splits_seed42/prompt_relabel_report.json @@ -0,0 +1,5327 @@ +{ + "date": "2026-11-02", + "dataset_root": "/data/jiangnan/so101_hippovla_splits_seed42", + "status": "applied_and_verified", + "authority": "Robot demonstration videos", + "review_scope": "All 368 external-camera trajectories reviewed through timestamped grasp, placement and ending key frames; this is a key-frame review, not continuous native-video viewing.", + "original_prompt_count": 2, + "new_prompt_count": 22, + "episodes": 368, + "splits": { + "train": { + "episodes": 350, + "observed_tasks": 22 + }, + "val": { + "episodes": 18, + "observed_tasks": 12 + } + }, + "split_note": "The original seed42 split was stratified over the two coarse prompts and is preserved. The validation set covers 12 of the 22 refined tasks.", + "backup": "/data/Minko/diagnostics/so101_prompt_audit_20261102/backup_before_relabel", + "audit_directory": "/data/Minko/diagnostics/so101_prompt_audit_20261102", + "task_definitions": [ + { + "source_task": "black_left", + "task_index": 0, + "prompt": "Put the black cube into the left cup.", + "episodes": 40 + }, + { + "source_task": "black_right", + "task_index": 1, + "prompt": "Put the black cube into the right cup.", + "episodes": 40 + }, + { + "source_task": "green_left", + "task_index": 2, + "prompt": "Put the green cube into the left cup.", + "episodes": 40 + }, + { + "source_task": "green_right", + "task_index": 3, + "prompt": "Put the green cube into the right cup.", + "episodes": 40 + }, + { + "source_task": "blue_left", + "task_index": 4, + "prompt": "Put the blue cube into the left cup.", + "episodes": 40 + }, + { + "source_task": "gray_right", + "task_index": 5, + "prompt": "Put the gray cube into the right cup.", + 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