| { |
| "source_dataset": "./0.1.0", |
| "output_dir": "/ssd2/zhujiarun/OXE/lerobot/taco_play", |
| "total_episodes": 3242, |
| "failed_episodes": 0, |
| "total_frames": 213972, |
| "total_time_seconds": 28681.377563476562, |
| "gripper_mapping": { |
| "min_width": 9.7e-05, |
| "max_width": 0.080714, |
| "formula": "closedness = (width - min_width) / (max_width - min_width)" |
| }, |
| "robot_state_mapping": { |
| "ee_pos": "robot_obs[0:3]", |
| "ee_rot_rpy": "robot_obs[3:6] (already in euler angles)", |
| "gripper_width": "robot_obs[6]" |
| }, |
| "tasks": [ |
| "open_drawer", |
| "unstack_purple_block", |
| "close_drawer", |
| "place_pink_drawer_top", |
| "push_purple_block_left", |
| "place_purple_left_cabinet", |
| "lift_yellow_block", |
| "place_yellow_drawer_top", |
| "turn_off_red_led", |
| "lift_pink_block", |
| "turn_on_green_led", |
| "place_yellow_table", |
| "place_yellow_drawer", |
| "lift_purple_block", |
| "turn_off_green_led", |
| "rotate_pink_block_right", |
| "stack_purple_on_yellow", |
| "rotate_yellow_block_right", |
| "stack_yellow_on_", |
| "place_pink_box", |
| "place_pink_left_cabinet", |
| "place_purple_drawer", |
| "rotate_purple_block_left", |
| "move_slide_left", |
| "stack_yellow_on_pink", |
| "turn_off_blue_led", |
| "place_pink_right_cabinet", |
| "place_yellow_left_cabinet", |
| "push_yellow_block_left", |
| "turn_on_red_led", |
| "rotate_purple_block_right", |
| "push_pink_block_left", |
| "stack_pink_on_yellow", |
| "turn_on_blue_led", |
| "place_pink_table", |
| "place_purple_table", |
| "place_purple_drawer_top", |
| "stack_purple_on_pink", |
| "push_yellow_block_right", |
| "rotate_pink_block_left", |
| "push_purple_block_right", |
| "place_purple_box", |
| "push_yellow_block_in_drawer", |
| "place_yellow_right_cabinet", |
| "place_purple_right_cabinet", |
| "place_yellow_box", |
| "push_pink_block_in_drawer", |
| "place_pink_drawer", |
| "stack_yellow_on_purple", |
| "push_pink_block_right", |
| "unstack_yellow_block", |
| "unstack_pink_block", |
| "rotate_yellow_block_left", |
| "stack_pink_on_purple", |
| "push_purple_block_in_drawer" |
| ], |
| "task_counts": { |
| "open_drawer": 282, |
| "unstack_purple_block": 22, |
| "close_drawer": 215, |
| "place_pink_drawer_top": 65, |
| "push_purple_block_left": 59, |
| "place_purple_left_cabinet": 47, |
| "lift_yellow_block": 178, |
| "place_yellow_drawer_top": 80, |
| "turn_off_red_led": 59, |
| "lift_pink_block": 151, |
| "turn_on_green_led": 71, |
| "place_yellow_table": 74, |
| "place_yellow_drawer": 73, |
| "lift_purple_block": 154, |
| "turn_off_green_led": 65, |
| "rotate_pink_block_right": 48, |
| "stack_purple_on_yellow": 25, |
| "rotate_yellow_block_right": 58, |
| "stack_yellow_on_": 1, |
| "place_pink_box": 48, |
| "place_pink_left_cabinet": 39, |
| "place_purple_drawer": 51, |
| "rotate_purple_block_left": 31, |
| "move_slide_left": 163, |
| "stack_yellow_on_pink": 14, |
| "turn_off_blue_led": 76, |
| "place_pink_right_cabinet": 50, |
| "place_yellow_left_cabinet": 51, |
| "push_yellow_block_left": 88, |
| "turn_on_red_led": 66, |
| "rotate_purple_block_right": 57, |
| "push_pink_block_left": 32, |
| "stack_pink_on_yellow": 6, |
| "turn_on_blue_led": 72, |
| "place_pink_table": 62, |
| "place_purple_table": 57, |
| "place_purple_drawer_top": 74, |
| "stack_purple_on_pink": 14, |
| "push_yellow_block_right": 43, |
| "rotate_pink_block_left": 22, |
| "push_purple_block_right": 28, |
| "place_purple_box": 64, |
| "push_yellow_block_in_drawer": 3, |
| "place_yellow_right_cabinet": 37, |
| "place_purple_right_cabinet": 34, |
| "place_yellow_box": 53, |
| "push_pink_block_in_drawer": 10, |
| "place_pink_drawer": 54, |
| "stack_yellow_on_purple": 11, |
| "push_pink_block_right": 28, |
| "unstack_yellow_block": 20, |
| "unstack_pink_block": 12, |
| "rotate_yellow_block_left": 36, |
| "stack_pink_on_purple": 4, |
| "push_purple_block_in_drawer": 5 |
| }, |
| "action_generation": "From next observation state (not from action field)", |
| "views_used": [ |
| "rgb_static \u2192 front (RGB)", |
| "depth_static \u2192 front_depth", |
| "rgb_gripper \u2192 wrist (RGB)", |
| "depth_gripper \u2192 wrist_depth" |
| ], |
| "start_time": "2025-12-12 10:10:22", |
| "end_time": "2025-12-12 18:08:23" |
| } |
