| { | |
| "version": 3, | |
| "obj_to_id": { | |
| "none": 0, | |
| "bread": 1, | |
| "kettle": 2, | |
| "cup": 3 | |
| }, | |
| "id_to_obj": { | |
| "0": "none", | |
| "1": "bread", | |
| "2": "kettle", | |
| "3": "cup" | |
| }, | |
| "scope": "all encoded skills and all exported label CSVs", | |
| "frame_fields": { | |
| "obj_id": "int64", | |
| "obj": "string" | |
| }, | |
| "rule": { | |
| "pickplace1_atomic/grasp": "bread", | |
| "pickplace2_merged_atomic/grasp": "bread", | |
| "pour1_atomic/grasp": "kettle", | |
| "pour2_atomic/grasp": "kettle", | |
| "stack1_atomic/grasp": "cup", | |
| "stack2_atomic/grasp": "cup", | |
| "other_skills": "none when source annotation absent; applied to both encoded data and CSV" | |
| }, | |
| "none": "explicit none category, obj_id=0, obj_onehot=[1,0,...,0] with 16 dimensions", | |
| "onehot_dimension": 16, | |
| "reserved_ids": [ | |
| 4, | |
| 5, | |
| 6, | |
| 7, | |
| 8, | |
| 9, | |
| 10, | |
| 11, | |
| 12, | |
| 13, | |
| 14, | |
| 15 | |
| ], | |
| "extension_policy": "Assign new categories to unused IDs in 0..15; preserve all existing IDs; update codebook and names without resizing fields. Reserved slots are zero until assigned.", | |
| "csv_missing_obj_policy": "Missing source obj is explicitly none/0 in encoded Parquet and CSV; obj_was_missing=1 preserves source missingness." | |
| } | |