Upload manifest.json

manifest.json

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+{
+  "created_at_utc": "2026-06-22T13:03:14.736315+00:00",
+  "source": "video2vla RoboTwin randomized500 latent cache",
+  "camera": "head_camera",
+  "backbone_target_size": 384,
+  "latent_shape": [
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+    32,
+    4,
+    21,
+    27
+  ],
+  "latent_dtype": "torch.bfloat16",
+  "task_count": 50,
+  "expected_episodes_per_task": 500,
+  "archive_format": "tar",
+  "metadata_archives": [
+    "metadata/action_stats_randomized500_joint_absolute.tar",
+    "metadata/robotwin_subtasks_randomized500.tar",
+    "metadata/robotwin_configs_randomized500_3step.tar"
+  ],
+  "tasks": [
+    {
+      "task": "adjust_bottle",
+      "cache_dir": "data/cache/robotwin_adjust_bottle_randomized500_t16_s4_l4_3step",
+      "archive": "cache/robotwin_adjust_bottle_randomized500_t16_s4_l4_3step.tar",
+      "latent_shape": [
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+        32,
+        4,
+        21,
+        27
+      ],
+      "latent_dtype": "torch.bfloat16",
+      "splits": [
+        "train",
+        "val"
+      ],
+      "config": "benchmarks/robotwin/configs/adjust_bottle_randomized500_3step.yaml",
+      "action_stats": "data/action_stats/adjust_bottle_randomized500_joint_absolute.json",
+      "subtasks_dir": "data/subtasks/robotwin/adjust_bottle/aloha-agilex/randomized_500"
+    },
+    {
+      "task": "beat_block_hammer",
+      "cache_dir": "data/cache/robotwin_beat_block_hammer_randomized500_t16_s4_l4_3step",
+      "archive": "cache/robotwin_beat_block_hammer_randomized500_t16_s4_l4_3step.tar",
+      "latent_shape": [
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+        32,
+        4,
+        21,
+        27
+      ],
+      "latent_dtype": "torch.bfloat16",
+      "splits": [
+        "train",
+        "val"
+      ],
+      "config": "benchmarks/robotwin/configs/beat_block_hammer_randomized500_3step.yaml",
+      "action_stats": "data/action_stats/beat_block_hammer_randomized500_joint_absolute.json",
+      "subtasks_dir": "data/subtasks/robotwin/beat_block_hammer/aloha-agilex/randomized_500"
+    },
+    {
+      "task": "blocks_ranking_rgb",
+      "cache_dir": "data/cache/robotwin_blocks_ranking_rgb_randomized500_t16_s4_l4_3step",
+      "archive": "cache/robotwin_blocks_ranking_rgb_randomized500_t16_s4_l4_3step.tar",
+      "latent_shape": [
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+        27
+      ],
+      "latent_dtype": "torch.bfloat16",
+      "splits": [
+        "train",
+        "val"
+      ],
+      "config": "benchmarks/robotwin/configs/blocks_ranking_rgb_randomized500_3step.yaml",
+      "action_stats": "data/action_stats/blocks_ranking_rgb_randomized500_joint_absolute.json",
+      "subtasks_dir": "data/subtasks/robotwin/blocks_ranking_rgb/aloha-agilex/randomized_500"
+    },
+    {
+      "task": "blocks_ranking_size",
+      "cache_dir": "data/cache/robotwin_blocks_ranking_size_randomized500_t16_s4_l4_3step",
+      "archive": "cache/robotwin_blocks_ranking_size_randomized500_t16_s4_l4_3step.tar",
+      "latent_shape": [
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+        27
+      ],
+      "latent_dtype": "torch.bfloat16",
+      "splits": [
+        "train",
+        "val"
+      ],
+      "config": "benchmarks/robotwin/configs/blocks_ranking_size_randomized500_3step.yaml",
+      "action_stats": "data/action_stats/blocks_ranking_size_randomized500_joint_absolute.json",
+      "subtasks_dir": "data/subtasks/robotwin/blocks_ranking_size/aloha-agilex/randomized_500"
+    },
+    {
+      "task": "click_alarmclock",
+      "cache_dir": "data/cache/robotwin_click_alarmclock_randomized500_t16_s4_l4_3step",
+      "archive": "cache/robotwin_click_alarmclock_randomized500_t16_s4_l4_3step.tar",
+      "latent_shape": [
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+        27
+      ],
+      "latent_dtype": "torch.bfloat16",
+      "splits": [
+        "train",
+        "val"
+      ],
+      "config": "benchmarks/robotwin/configs/click_alarmclock_randomized500_3step.yaml",
+      "action_stats": "data/action_stats/click_alarmclock_randomized500_joint_absolute.json",
+      "subtasks_dir": "data/subtasks/robotwin/click_alarmclock/aloha-agilex/randomized_500"
+    },
+    {
+      "task": "click_bell",
+      "cache_dir": "data/cache/robotwin_click_bell_randomized500_t16_s4_l4_3step",
+      "archive": "cache/robotwin_click_bell_randomized500_t16_s4_l4_3step.tar",
+      "latent_shape": [
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+        4,
+        21,
+        27
+      ],
+      "latent_dtype": "torch.bfloat16",
+      "splits": [
+        "train",
+        "val"
+      ],
+      "config": "benchmarks/robotwin/configs/click_bell_randomized500_3step.yaml",
+      "action_stats": "data/action_stats/click_bell_randomized500_joint_absolute.json",
+      "subtasks_dir": "data/subtasks/robotwin/click_bell/aloha-agilex/randomized_500"
+    },
+    {
+      "task": "dump_bin_bigbin",
+      "cache_dir": "data/cache/robotwin_dump_bin_bigbin_randomized500_t16_s4_l4_3step",
+      "archive": "cache/robotwin_dump_bin_bigbin_randomized500_t16_s4_l4_3step.tar",
+      "latent_shape": [
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+        32,
+        4,
+        21,
+        27
+      ],
+      "latent_dtype": "torch.bfloat16",
+      "splits": [
+        "train",
+        "val"
+      ],
+      "config": "benchmarks/robotwin/configs/dump_bin_bigbin_randomized500_3step.yaml",
+      "action_stats": "data/action_stats/dump_bin_bigbin_randomized500_joint_absolute.json",
+      "subtasks_dir": "data/subtasks/robotwin/dump_bin_bigbin/aloha-agilex/randomized_500"
+    },
+    {
+      "task": "grab_roller",
+      "cache_dir": "data/cache/robotwin_grab_roller_randomized500_t16_s4_l4_3step",
+      "archive": "cache/robotwin_grab_roller_randomized500_t16_s4_l4_3step.tar",
+      "latent_shape": [
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+        21,
+        27
+      ],
+      "latent_dtype": "torch.bfloat16",
+      "splits": [
+        "train",
+        "val"
+      ],
+      "config": "benchmarks/robotwin/configs/grab_roller_randomized500_3step.yaml",
+      "action_stats": "data/action_stats/grab_roller_randomized500_joint_absolute.json",
+      "subtasks_dir": "data/subtasks/robotwin/grab_roller/aloha-agilex/randomized_500"
+    },
+    {
+      "task": "handover_block",
+      "cache_dir": "data/cache/robotwin_handover_block_randomized500_t16_s4_l4_3step",
+      "archive": "cache/robotwin_handover_block_randomized500_t16_s4_l4_3step.tar",
+      "latent_shape": [
+        1,
+        32,
+        4,
+        21,
+        27
+      ],
+      "latent_dtype": "torch.bfloat16",
+      "splits": [
+        "train",
+        "val"
+      ],
+      "config": "benchmarks/robotwin/configs/handover_block_randomized500_3step.yaml",
+      "action_stats": "data/action_stats/handover_block_randomized500_joint_absolute.json",
+      "subtasks_dir": "data/subtasks/robotwin/handover_block/aloha-agilex/randomized_500"
+    },
+    {
+      "task": "handover_mic",
+      "cache_dir": "data/cache/robotwin_handover_mic_randomized500_t16_s4_l4_3step",
+      "archive": "cache/robotwin_handover_mic_randomized500_t16_s4_l4_3step.tar",
+      "latent_shape": [
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+        4,
+        21,
+        27
+      ],
+      "latent_dtype": "torch.bfloat16",
+      "splits": [
+        "train",
+        "val"
+      ],
+      "config": "benchmarks/robotwin/configs/handover_mic_randomized500_3step.yaml",
+      "action_stats": "data/action_stats/handover_mic_randomized500_joint_absolute.json",
+      "subtasks_dir": "data/subtasks/robotwin/handover_mic/aloha-agilex/randomized_500"
+    },
+    {
+      "task": "hanging_mug",
+      "cache_dir": "data/cache/robotwin_hanging_mug_randomized500_t16_s4_l4_3step",
+      "archive": "cache/robotwin_hanging_mug_randomized500_t16_s4_l4_3step.tar",
+      "latent_shape": [
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+        32,
+        4,
+        21,
+        27
+      ],
+      "latent_dtype": "torch.bfloat16",
+      "splits": [
+        "train",
+        "val"
+      ],
+      "config": "benchmarks/robotwin/configs/hanging_mug_randomized500_3step.yaml",
+      "action_stats": "data/action_stats/hanging_mug_randomized500_joint_absolute.json",
+      "subtasks_dir": "data/subtasks/robotwin/hanging_mug/aloha-agilex/randomized_500"
+    },
+    {
+      "task": "lift_pot",
+      "cache_dir": "data/cache/robotwin_lift_pot_randomized500_t16_s4_l4_3step",
+      "archive": "cache/robotwin_lift_pot_randomized500_t16_s4_l4_3step.tar",
+      "latent_shape": [
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+        27
+      ],
+      "latent_dtype": "torch.bfloat16",
+      "splits": [
+        "train",
+        "val"
+      ],
+      "config": "benchmarks/robotwin/configs/lift_pot_randomized500_3step.yaml",
+      "action_stats": "data/action_stats/lift_pot_randomized500_joint_absolute.json",
+      "subtasks_dir": "data/subtasks/robotwin/lift_pot/aloha-agilex/randomized_500"
+    },
+    {
+      "task": "move_can_pot",
+      "cache_dir": "data/cache/robotwin_move_can_pot_randomized500_t16_s4_l4_3step",
+      "archive": "cache/robotwin_move_can_pot_randomized500_t16_s4_l4_3step.tar",
+      "latent_shape": [
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+        32,
+        4,
+        21,
+        27
+      ],
+      "latent_dtype": "torch.bfloat16",
+      "splits": [
+        "train",
+        "val"
+      ],
+      "config": "benchmarks/robotwin/configs/move_can_pot_randomized500_3step.yaml",
+      "action_stats": "data/action_stats/move_can_pot_randomized500_joint_absolute.json",
+      "subtasks_dir": "data/subtasks/robotwin/move_can_pot/aloha-agilex/randomized_500"
+    },
+    {
+      "task": "move_pillbottle_pad",
+      "cache_dir": "data/cache/robotwin_move_pillbottle_pad_randomized500_t16_s4_l4_3step",
+      "archive": "cache/robotwin_move_pillbottle_pad_randomized500_t16_s4_l4_3step.tar",
+      "latent_shape": [
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+        32,
+        4,
+        21,
+        27
+      ],
+      "latent_dtype": "torch.bfloat16",
+      "splits": [
+        "train",
+        "val"
+      ],
+      "config": "benchmarks/robotwin/configs/move_pillbottle_pad_randomized500_3step.yaml",
+      "action_stats": "data/action_stats/move_pillbottle_pad_randomized500_joint_absolute.json",
+      "subtasks_dir": "data/subtasks/robotwin/move_pillbottle_pad/aloha-agilex/randomized_500"
+    },
+    {
+      "task": "move_playingcard_away",
+      "cache_dir": "data/cache/robotwin_move_playingcard_away_randomized500_t16_s4_l4_3step",
+      "archive": "cache/robotwin_move_playingcard_away_randomized500_t16_s4_l4_3step.tar",
+      "latent_shape": [
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+        32,
+        4,
+        21,
+        27
+      ],
+      "latent_dtype": "torch.bfloat16",
+      "splits": [
+        "train",
+        "val"
+      ],
+      "config": "benchmarks/robotwin/configs/move_playingcard_away_randomized500_3step.yaml",
+      "action_stats": "data/action_stats/move_playingcard_away_randomized500_joint_absolute.json",
+      "subtasks_dir": "data/subtasks/robotwin/move_playingcard_away/aloha-agilex/randomized_500"
+    },
+    {
+      "task": "move_stapler_pad",
+      "cache_dir": "data/cache/robotwin_move_stapler_pad_randomized500_t16_s4_l4_3step",
+      "archive": "cache/robotwin_move_stapler_pad_randomized500_t16_s4_l4_3step.tar",
+      "latent_shape": [
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+        4,
+        21,
+        27
+      ],
+      "latent_dtype": "torch.bfloat16",
+      "splits": [
+        "train",
+        "val"
+      ],
+      "config": "benchmarks/robotwin/configs/move_stapler_pad_randomized500_3step.yaml",
+      "action_stats": "data/action_stats/move_stapler_pad_randomized500_joint_absolute.json",
+      "subtasks_dir": "data/subtasks/robotwin/move_stapler_pad/aloha-agilex/randomized_500"
+    },
+    {
+      "task": "open_laptop",
+      "cache_dir": "data/cache/robotwin_open_laptop_randomized500_t16_s4_l4_3step",
+      "archive": "cache/robotwin_open_laptop_randomized500_t16_s4_l4_3step.tar",
+      "latent_shape": [
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+        32,
+        4,
+        21,
+        27
+      ],
+      "latent_dtype": "torch.bfloat16",
+      "splits": [
+        "train",
+        "val"
+      ],
+      "config": "benchmarks/robotwin/configs/open_laptop_randomized500_3step.yaml",
+      "action_stats": "data/action_stats/open_laptop_randomized500_joint_absolute.json",
+      "subtasks_dir": "data/subtasks/robotwin/open_laptop/aloha-agilex/randomized_500"
+    },
+    {
+      "task": "open_microwave",
+      "cache_dir": "data/cache/robotwin_open_microwave_randomized500_t16_s4_l4_3step",
+      "archive": "cache/robotwin_open_microwave_randomized500_t16_s4_l4_3step.tar",
+      "latent_shape": [
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+        32,
+        4,
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+        27
+      ],
+      "latent_dtype": "torch.bfloat16",
+      "splits": [
+        "train",
+        "val"
+      ],
+      "config": "benchmarks/robotwin/configs/open_microwave_randomized500_3step.yaml",
+      "action_stats": "data/action_stats/open_microwave_randomized500_joint_absolute.json",
+      "subtasks_dir": "data/subtasks/robotwin/open_microwave/aloha-agilex/randomized_500"
+    },
+    {
+      "task": "pick_diverse_bottles",
+      "cache_dir": "data/cache/robotwin_pick_diverse_bottles_randomized500_t16_s4_l4_3step",
+      "archive": "cache/robotwin_pick_diverse_bottles_randomized500_t16_s4_l4_3step.tar",
+      "latent_shape": [
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+        27
+      ],
+      "latent_dtype": "torch.bfloat16",
+      "splits": [
+        "train",
+        "val"
+      ],
+      "config": "benchmarks/robotwin/configs/pick_diverse_bottles_randomized500_3step.yaml",
+      "action_stats": "data/action_stats/pick_diverse_bottles_randomized500_joint_absolute.json",
+      "subtasks_dir": "data/subtasks/robotwin/pick_diverse_bottles/aloha-agilex/randomized_500"
+    },
+    {
+      "task": "pick_dual_bottles",
+      "cache_dir": "data/cache/robotwin_pick_dual_bottles_randomized500_t16_s4_l4_3step",
+      "archive": "cache/robotwin_pick_dual_bottles_randomized500_t16_s4_l4_3step.tar",
+      "latent_shape": [
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+      ],
+      "latent_dtype": "torch.bfloat16",
+      "splits": [
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+        "val"
+      ],
+      "config": "benchmarks/robotwin/configs/pick_dual_bottles_randomized500_3step.yaml",
+      "action_stats": "data/action_stats/pick_dual_bottles_randomized500_joint_absolute.json",
+      "subtasks_dir": "data/subtasks/robotwin/pick_dual_bottles/aloha-agilex/randomized_500"
+    },
+    {
+      "task": "place_a2b_left",
+      "cache_dir": "data/cache/robotwin_place_a2b_left_randomized500_t16_s4_l4_3step",
+      "archive": "cache/robotwin_place_a2b_left_randomized500_t16_s4_l4_3step.tar",
+      "latent_shape": [
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+      "latent_dtype": "torch.bfloat16",
+      "splits": [
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+      "config": "benchmarks/robotwin/configs/place_a2b_left_randomized500_3step.yaml",
+      "action_stats": "data/action_stats/place_a2b_left_randomized500_joint_absolute.json",
+      "subtasks_dir": "data/subtasks/robotwin/place_a2b_left/aloha-agilex/randomized_500"
+    },
+    {
+      "task": "place_a2b_right",
+      "cache_dir": "data/cache/robotwin_place_a2b_right_randomized500_t16_s4_l4_3step",
+      "archive": "cache/robotwin_place_a2b_right_randomized500_t16_s4_l4_3step.tar",
+      "latent_shape": [
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+      "latent_dtype": "torch.bfloat16",
+      "splits": [
+        "train",
+        "val"
+      ],
+      "config": "benchmarks/robotwin/configs/place_a2b_right_randomized500_3step.yaml",
+      "action_stats": "data/action_stats/place_a2b_right_randomized500_joint_absolute.json",
+      "subtasks_dir": "data/subtasks/robotwin/place_a2b_right/aloha-agilex/randomized_500"
+    },
+    {
+      "task": "place_bread_basket",
+      "cache_dir": "data/cache/robotwin_place_bread_basket_randomized500_t16_s4_l4_3step",
+      "archive": "cache/robotwin_place_bread_basket_randomized500_t16_s4_l4_3step.tar",
+      "latent_shape": [
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+      "latent_dtype": "torch.bfloat16",
+      "splits": [
+        "train",
+        "val"
+      ],
+      "config": "benchmarks/robotwin/configs/place_bread_basket_randomized500_3step.yaml",
+      "action_stats": "data/action_stats/place_bread_basket_randomized500_joint_absolute.json",
+      "subtasks_dir": "data/subtasks/robotwin/place_bread_basket/aloha-agilex/randomized_500"
+    },
+    {
+      "task": "place_bread_skillet",
+      "cache_dir": "data/cache/robotwin_place_bread_skillet_randomized500_t16_s4_l4_3step",
+      "archive": "cache/robotwin_place_bread_skillet_randomized500_t16_s4_l4_3step.tar",
+      "latent_shape": [
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+      "latent_dtype": "torch.bfloat16",
+      "splits": [
+        "train",
+        "val"
+      ],
+      "config": "benchmarks/robotwin/configs/place_bread_skillet_randomized500_3step.yaml",
+      "action_stats": "data/action_stats/place_bread_skillet_randomized500_joint_absolute.json",
+      "subtasks_dir": "data/subtasks/robotwin/place_bread_skillet/aloha-agilex/randomized_500"
+    },
+    {
+      "task": "place_burger_fries",
+      "cache_dir": "data/cache/robotwin_place_burger_fries_randomized500_t16_s4_l4_3step",
+      "archive": "cache/robotwin_place_burger_fries_randomized500_t16_s4_l4_3step.tar",
+      "latent_shape": [
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+      "latent_dtype": "torch.bfloat16",
+      "splits": [
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+        "val"
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+      "config": "benchmarks/robotwin/configs/place_burger_fries_randomized500_3step.yaml",
+      "action_stats": "data/action_stats/place_burger_fries_randomized500_joint_absolute.json",
+      "subtasks_dir": "data/subtasks/robotwin/place_burger_fries/aloha-agilex/randomized_500"
+    },
+    {
+      "task": "place_can_basket",
+      "cache_dir": "data/cache/robotwin_place_can_basket_randomized500_t16_s4_l4_3step",
+      "archive": "cache/robotwin_place_can_basket_randomized500_t16_s4_l4_3step.tar",
+      "latent_shape": [
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+      "latent_dtype": "torch.bfloat16",
+      "splits": [
+        "train",
+        "val"
+      ],
+      "config": "benchmarks/robotwin/configs/place_can_basket_randomized500_3step.yaml",
+      "action_stats": "data/action_stats/place_can_basket_randomized500_joint_absolute.json",
+      "subtasks_dir": "data/subtasks/robotwin/place_can_basket/aloha-agilex/randomized_500"
+    },
+    {
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+}