ABC-130k / samples.json
Burhan-Q's picture
Upload folder using huggingface_hub
b087a50 verified
Raw
History Blame Contribute Delete
62.8 kB
{"samples": [{"_id": {"$oid": "6a552ed6565b467d07a7c69f"}, "filepath": "data/val/clear_the_kitchen_counter/episode_9b2f49d7-515a-44b4-8c96-23715a796b09/episode.fo.mcap", "tags": ["val"], "_media_type": "multimodal", "_rand": 0.9996115752741647, "split": "val", "task": "clear_the_kitchen_counter", "episode_id": "episode_9b2f49d7-515a-44b4-8c96-23715a796b09", "size_mb": 221.5, "station": "mono", "topics": ["/instruction", "/left-arm-action", "/left-arm-action.plot", "/left-arm-state", "/left-arm-state.plot", "/left-ee-action", "/left-ee-action.plot", "/left-ee-state", "/left-ee-state.plot", "/left-wrist-camera", "/left-wrist-camera-info", "/right-arm-action", "/right-arm-action.plot", "/right-arm-state", "/right-arm-state.plot", "/right-ee-action", "/right-ee-action.plot", "/right-ee-state", "/right-ee-state.plot", "/right-wrist-camera", "/right-wrist-camera-info", "/top-camera", "/top-camera-info"], "camera_topics": ["/left-wrist-camera", "/right-wrist-camera", "/top-camera"], "camera_codecs": {"/left-wrist-camera": "h264", "/top-camera": "h264", "/right-wrist-camera": "h264"}, "duration_s": 215.23, "n_messages": 70470, "source_fps": 29.8, "reencoded_to_30fps": false, "_dataset_id": {"$oid": "6a552eb8565b467d07a7c69e"}, "created_at": {"$date": "2026-07-13T18:30:46.247Z"}, "last_modified_at": {"$date": "2026-07-13T19:41:00.681Z"}, "plot_topics": ["/left-arm-action.plot", "/left-arm-state.plot", "/left-ee-action.plot", "/left-ee-state.plot", "/right-arm-action.plot", "/right-arm-state.plot", "/right-ee-action.plot", "/right-ee-state.plot"]},{"_id": {"$oid": "6a552ed6565b467d07a7c6a0"}, "filepath": "data/val/distribute_texas_hold_em_gaming_equipment/episode_0c58609a-cc9e-47ce-9675-72aa481784c7/episode.fo.mcap", "tags": ["val"], "_media_type": "multimodal", "_rand": 0.999997816795911, "split": "val", "task": "distribute_texas_hold_em_gaming_equipment", "episode_id": "episode_0c58609a-cc9e-47ce-9675-72aa481784c7", "size_mb": 290.7, "station": "mono", "topics": ["/instruction", "/left-arm-action", "/left-arm-action.plot", "/left-arm-state", "/left-arm-state.plot", "/left-ee-action", "/left-ee-action.plot", "/left-ee-state", "/left-ee-state.plot", "/left-wrist-camera", "/left-wrist-camera-info", "/right-arm-action", "/right-arm-action.plot", "/right-arm-state", "/right-arm-state.plot", "/right-ee-action", "/right-ee-action.plot", "/right-ee-state", "/right-ee-state.plot", "/right-wrist-camera", "/right-wrist-camera-info", "/top-camera", "/top-camera-info"], "camera_topics": ["/left-wrist-camera", "/right-wrist-camera", "/top-camera"], "camera_codecs": {"/top-camera": "h264", "/right-wrist-camera": "h264", "/left-wrist-camera": "h264"}, "duration_s": 171.12, "n_messages": 56027, "source_fps": 29.8, "reencoded_to_30fps": false, "_dataset_id": {"$oid": "6a552eb8565b467d07a7c69e"}, "created_at": {"$date": "2026-07-13T18:30:46.247Z"}, "last_modified_at": {"$date": "2026-07-13T19:41:02.037Z"}, "plot_topics": ["/left-arm-action.plot", "/left-arm-state.plot", "/left-ee-action.plot", "/left-ee-state.plot", "/right-arm-action.plot", "/right-arm-state.plot", "/right-ee-action.plot", "/right-ee-state.plot"]},{"_id": {"$oid": "6a552ed6565b467d07a7c6a1"}, "filepath": "data/val/fold_a_paper_plane_with_a_square_sheet_of_paper_pick_it_up_from_the_middle/episode_e55cc103-bbdb-4ea8-99e9-86261cde32f2/episode.fo.mcap", "tags": ["val"], "_media_type": "multimodal", "_rand": 0.9996208623746792, "split": "val", "task": "fold_a_paper_plane_with_a_square_sheet_of_paper_pick_it_up_from_the_middle", "episode_id": "episode_e55cc103-bbdb-4ea8-99e9-86261cde32f2", "size_mb": 170.4, "station": "mono", "topics": ["/instruction", "/left-arm-action", "/left-arm-action.plot", "/left-arm-state", "/left-arm-state.plot", "/left-ee-action", "/left-ee-action.plot", "/left-ee-state", "/left-ee-state.plot", "/left-wrist-camera", "/left-wrist-camera-info", "/right-arm-action", "/right-arm-action.plot", "/right-arm-state", "/right-arm-state.plot", "/right-ee-action", "/right-ee-action.plot", "/right-ee-state", "/right-ee-state.plot", "/right-wrist-camera", "/right-wrist-camera-info", "/top-camera", "/top-camera-info"], "camera_topics": ["/left-wrist-camera", "/right-wrist-camera", "/top-camera"], "camera_codecs": {"/right-wrist-camera": "h264", "/top-camera": "h264", "/left-wrist-camera": "h264"}, "duration_s": 134.77, "n_messages": 271551, "source_fps": 59.8, "reencoded_to_30fps": true, "_dataset_id": {"$oid": "6a552eb8565b467d07a7c69e"}, "created_at": {"$date": "2026-07-13T18:30:46.247Z"}, "last_modified_at": {"$date": "2026-07-13T19:41:20.645Z"}, "plot_topics": ["/left-arm-action.plot", "/left-arm-state.plot", "/left-ee-action.plot", "/left-ee-state.plot", "/right-arm-action.plot", "/right-arm-state.plot", "/right-ee-action.plot", "/right-ee-state.plot"]},{"_id": {"$oid": "6a552ed6565b467d07a7c6a2"}, "filepath": "data/val/fold_and_stack_the_skirts/episode_aa015e3a-8cb9-4e03-93a9-900fac9ae6b8/episode.fo.mcap", "tags": ["val"], "_media_type": "multimodal", "_rand": 0.9995167869675232, "split": "val", "task": "fold_and_stack_the_skirts", "episode_id": "episode_aa015e3a-8cb9-4e03-93a9-900fac9ae6b8", "size_mb": 15.1, "station": "mono", "topics": ["/instruction", "/left-arm-action", "/left-arm-action.plot", "/left-arm-state", "/left-arm-state.plot", "/left-ee-action", "/left-ee-action.plot", "/left-ee-state", "/left-ee-state.plot", "/left-wrist-camera", "/left-wrist-camera-info", "/right-arm-action", "/right-arm-action.plot", "/right-arm-state", "/right-arm-state.plot", "/right-ee-action", "/right-ee-action.plot", "/right-ee-state", "/right-ee-state.plot", "/right-wrist-camera", "/right-wrist-camera-info", "/top-camera", "/top-camera-info"], "camera_topics": ["/left-wrist-camera", "/right-wrist-camera", "/top-camera"], "camera_codecs": {"/right-wrist-camera": "h264", "/left-wrist-camera": "h264", "/top-camera": "h264"}, "duration_s": 20.5, "n_messages": 6604, "source_fps": 29.3, "reencoded_to_30fps": false, "_dataset_id": {"$oid": "6a552eb8565b467d07a7c69e"}, "created_at": {"$date": "2026-07-13T18:30:46.247Z"}, "last_modified_at": {"$date": "2026-07-13T19:41:20.804Z"}, "plot_topics": ["/left-arm-action.plot", "/left-arm-state.plot", "/left-ee-action.plot", "/left-ee-state.plot", "/right-arm-action.plot", "/right-arm-state.plot", "/right-ee-action.plot", "/right-ee-state.plot"]},{"_id": {"$oid": "6a552ed6565b467d07a7c6a3"}, "filepath": "data/val/fold_the_inside_out_t_shirt/episode_c7fbe5d9-5cef-4b6c-9be7-552d02680a79/episode.fo.mcap", "tags": ["val"], "_media_type": "multimodal", "_rand": 0.9991513944097333, "split": "val", "task": "fold_the_inside_out_t_shirt", "episode_id": "episode_c7fbe5d9-5cef-4b6c-9be7-552d02680a79", "size_mb": 291.2, "station": "mono", "topics": ["/instruction", "/left-arm-action", "/left-arm-action.plot", "/left-arm-state", "/left-arm-state.plot", "/left-ee-action", "/left-ee-action.plot", "/left-ee-state", "/left-ee-state.plot", "/left-wrist-camera", "/left-wrist-camera-info", "/right-arm-action", "/right-arm-action.plot", "/right-arm-state", "/right-arm-state.plot", "/right-ee-action", "/right-ee-action.plot", "/right-ee-state", "/right-ee-state.plot", "/right-wrist-camera", "/right-wrist-camera-info", "/top-camera", "/top-camera-info"], "camera_topics": ["/left-wrist-camera", "/right-wrist-camera", "/top-camera"], "camera_codecs": {"/right-wrist-camera": "h264", "/top-camera": "h264", "/left-wrist-camera": "h264"}, "duration_s": 129.9, "n_messages": 254009, "source_fps": 59.1, "reencoded_to_30fps": true, "_dataset_id": {"$oid": "6a552eb8565b467d07a7c69e"}, "created_at": {"$date": "2026-07-13T18:30:46.247Z"}, "last_modified_at": {"$date": "2026-07-13T19:41:40.680Z"}, "plot_topics": ["/left-arm-action.plot", "/left-arm-state.plot", "/left-ee-action.plot", "/left-ee-state.plot", "/right-arm-action.plot", "/right-arm-state.plot", "/right-ee-action.plot", "/right-ee-state.plot"]},{"_id": {"$oid": "6a552ed6565b467d07a7c6a4"}, "filepath": "data/val/insert_the_plug/episode_fffa456e-057a-4898-9f09-2361e52dba1a/episode.fo.mcap", "tags": ["val"], "_media_type": "multimodal", "_rand": 0.9998433582046702, "split": "val", "task": "insert_the_plug", "episode_id": "episode_fffa456e-057a-4898-9f09-2361e52dba1a", "size_mb": 53.2, "station": "mono", "topics": ["/instruction", "/left-arm-action", "/left-arm-action.plot", "/left-arm-state", "/left-arm-state.plot", "/left-ee-action", "/left-ee-action.plot", "/left-ee-state", "/left-ee-state.plot", "/left-wrist-camera", "/left-wrist-camera-info", "/right-arm-action", "/right-arm-action.plot", "/right-arm-state", "/right-arm-state.plot", "/right-ee-action", "/right-ee-action.plot", "/right-ee-state", "/right-ee-state.plot", "/right-wrist-camera", "/right-wrist-camera-info", "/top-camera", "/top-camera-info"], "camera_topics": ["/left-wrist-camera", "/right-wrist-camera", "/top-camera"], "camera_codecs": {"/top-camera": "h264", "/right-wrist-camera": "h264", "/left-wrist-camera": "h264"}, "duration_s": 93.48, "n_messages": 30595, "source_fps": 29.8, "reencoded_to_30fps": false, "_dataset_id": {"$oid": "6a552eb8565b467d07a7c69e"}, "created_at": {"$date": "2026-07-13T18:30:46.247Z"}, "last_modified_at": {"$date": "2026-07-13T19:41:41.286Z"}, "plot_topics": ["/left-arm-action.plot", "/left-arm-state.plot", "/left-ee-action.plot", "/left-ee-state.plot", "/right-arm-action.plot", "/right-arm-state.plot", "/right-ee-action.plot", "/right-ee-state.plot"]},{"_id": {"$oid": "6a552ed6565b467d07a7c6a5"}, "filepath": "data/val/load_the_bowls_into_the_dish_rack/episode_cf92e181-b2de-48c8-8839-5a5d46db6a95/episode.fo.mcap", "tags": ["val"], "_media_type": "multimodal", "_rand": 0.9992534012487944, "split": "val", "task": "load_the_bowls_into_the_dish_rack", "episode_id": "episode_cf92e181-b2de-48c8-8839-5a5d46db6a95", "size_mb": 71.3, "station": "mono", "topics": ["/instruction", "/left-arm-action", "/left-arm-action.plot", "/left-arm-state", "/left-arm-state.plot", "/left-ee-action", "/left-ee-action.plot", "/left-ee-state", "/left-ee-state.plot", "/left-wrist-camera", "/left-wrist-camera-info", "/right-arm-action", "/right-arm-action.plot", "/right-arm-state", "/right-arm-state.plot", "/right-ee-action", "/right-ee-action.plot", "/right-ee-state", "/right-ee-state.plot", "/right-wrist-camera", "/right-wrist-camera-info", "/top-camera", "/top-camera-info"], "camera_topics": ["/left-wrist-camera", "/right-wrist-camera", "/top-camera"], "camera_codecs": {"/right-wrist-camera": "h264", "/top-camera": "h264", "/left-wrist-camera": "h264"}, "duration_s": 77.03, "n_messages": 25194, "source_fps": 29.7, "reencoded_to_30fps": false, "_dataset_id": {"$oid": "6a552eb8565b467d07a7c69e"}, "created_at": {"$date": "2026-07-13T18:30:46.248Z"}, "last_modified_at": {"$date": "2026-07-13T19:41:41.869Z"}, "plot_topics": ["/left-arm-action.plot", "/left-arm-state.plot", "/left-ee-action.plot", "/left-ee-state.plot", "/right-arm-action.plot", "/right-arm-state.plot", "/right-ee-action.plot", "/right-ee-state.plot"]},{"_id": {"$oid": "6a552ed6565b467d07a7c6a6"}, "filepath": "data/val/load_the_staples_into_the_stapler/episode_c6c0f6bf-b6f7-4364-8a73-e4755bfb98b6/episode.fo.mcap", "tags": ["val"], "_media_type": "multimodal", "_rand": 0.9998165045079002, "split": "val", "task": "load_the_staples_into_the_stapler", "episode_id": "episode_c6c0f6bf-b6f7-4364-8a73-e4755bfb98b6", "size_mb": 94.1, "station": "mono", "topics": ["/instruction", "/left-arm-action", "/left-arm-action.plot", "/left-arm-state", "/left-arm-state.plot", "/left-ee-action", "/left-ee-action.plot", "/left-ee-state", "/left-ee-state.plot", "/left-wrist-camera", "/left-wrist-camera-info", "/right-arm-action", "/right-arm-action.plot", "/right-arm-state", "/right-arm-state.plot", "/right-ee-action", "/right-ee-action.plot", "/right-ee-state", "/right-ee-state.plot", "/right-wrist-camera", "/right-wrist-camera-info", "/top-camera", "/top-camera-info"], "camera_topics": ["/left-wrist-camera", "/right-wrist-camera", "/top-camera"], "camera_codecs": {"/top-camera": "h264", "/left-wrist-camera": "h264", "/right-wrist-camera": "h264"}, "duration_s": 86.54, "n_messages": 28153, "source_fps": 29.6, "reencoded_to_30fps": false, "_dataset_id": {"$oid": "6a552eb8565b467d07a7c69e"}, "created_at": {"$date": "2026-07-13T18:30:46.248Z"}, "last_modified_at": {"$date": "2026-07-13T19:41:42.528Z"}, "plot_topics": ["/left-arm-action.plot", "/left-arm-state.plot", "/left-ee-action.plot", "/left-ee-state.plot", "/right-arm-action.plot", "/right-arm-state.plot", "/right-ee-action.plot", "/right-ee-state.plot"]},{"_id": {"$oid": "6a552ed6565b467d07a7c6a7"}, "filepath": "data/val/open_the_umbrella/episode_ebcbf9d1-d42b-4ef1-b3be-cad29b11edf8/episode.fo.mcap", "tags": ["val"], "_media_type": "multimodal", "_rand": 0.9992832350129376, "split": "val", "task": "open_the_umbrella", "episode_id": "episode_ebcbf9d1-d42b-4ef1-b3be-cad29b11edf8", "size_mb": 84.1, "station": "mono", "topics": ["/instruction", "/left-arm-action", "/left-arm-action.plot", "/left-arm-state", "/left-arm-state.plot", "/left-ee-action", "/left-ee-action.plot", "/left-ee-state", "/left-ee-state.plot", "/left-wrist-camera", "/left-wrist-camera-info", "/right-arm-action", "/right-arm-action.plot", "/right-arm-state", "/right-arm-state.plot", "/right-ee-action", "/right-ee-action.plot", "/right-ee-state", "/right-ee-state.plot", "/right-wrist-camera", "/right-wrist-camera-info", "/top-camera", "/top-camera-info"], "camera_topics": ["/left-wrist-camera", "/right-wrist-camera", "/top-camera"], "camera_codecs": {"/top-camera": "h264", "/right-wrist-camera": "h264", "/left-wrist-camera": "h264"}, "duration_s": 80.72, "n_messages": 26635, "source_fps": 30.0, "reencoded_to_30fps": false, "_dataset_id": {"$oid": "6a552eb8565b467d07a7c69e"}, "created_at": {"$date": "2026-07-13T18:30:46.248Z"}, "last_modified_at": {"$date": "2026-07-13T19:41:43.124Z"}, "plot_topics": ["/left-arm-action.plot", "/left-arm-state.plot", "/left-ee-action.plot", "/left-ee-state.plot", "/right-arm-action.plot", "/right-arm-state.plot", "/right-ee-action.plot", "/right-ee-state.plot"]},{"_id": {"$oid": "6a552ed6565b467d07a7c6a8"}, "filepath": "data/val/organize_the_hangers/episode_b6b9ea5e-fb51-4bed-9d97-620984782392/episode.fo.mcap", "tags": ["val"], "_media_type": "multimodal", "_rand": 0.9992502381862499, "split": "val", "task": "organize_the_hangers", "episode_id": "episode_b6b9ea5e-fb51-4bed-9d97-620984782392", "size_mb": 51.5, "station": "mono", "topics": ["/instruction", "/left-arm-action", "/left-arm-action.plot", "/left-arm-state", "/left-arm-state.plot", "/left-ee-action", "/left-ee-action.plot", "/left-ee-state", "/left-ee-state.plot", "/left-wrist-camera", "/left-wrist-camera-info", "/right-arm-action", "/right-arm-action.plot", "/right-arm-state", "/right-arm-state.plot", "/right-ee-action", "/right-ee-action.plot", "/right-ee-state", "/right-ee-state.plot", "/right-wrist-camera", "/right-wrist-camera-info", "/top-camera", "/top-camera-info"], "camera_topics": ["/left-wrist-camera", "/right-wrist-camera", "/top-camera"], "camera_codecs": {"/top-camera": "h264", "/left-wrist-camera": "h264", "/right-wrist-camera": "h264"}, "duration_s": 86.83, "n_messages": 28395, "source_fps": 29.7, "reencoded_to_30fps": false, "_dataset_id": {"$oid": "6a552eb8565b467d07a7c69e"}, "created_at": {"$date": "2026-07-13T18:30:46.248Z"}, "last_modified_at": {"$date": "2026-07-13T19:41:43.753Z"}, "plot_topics": ["/left-arm-action.plot", "/left-arm-state.plot", "/left-ee-action.plot", "/left-ee-state.plot", "/right-arm-action.plot", "/right-arm-state.plot", "/right-ee-action.plot", "/right-ee-state.plot"]},{"_id": {"$oid": "6a552ed6565b467d07a7c6a9"}, "filepath": "data/val/organize_the_sunglasses/episode_f2424b5e-bde5-41ff-9993-1e409355f68a/episode.fo.mcap", "tags": ["val"], "_media_type": "multimodal", "_rand": 0.9993482822543431, "split": "val", "task": "organize_the_sunglasses", "episode_id": "episode_f2424b5e-bde5-41ff-9993-1e409355f68a", "size_mb": 74.5, "station": "mono", "topics": ["/instruction", "/left-arm-action", "/left-arm-action.plot", "/left-arm-state", "/left-arm-state.plot", "/left-ee-action", "/left-ee-action.plot", "/left-ee-state", "/left-ee-state.plot", "/left-wrist-camera", "/left-wrist-camera-info", "/right-arm-action", "/right-arm-action.plot", "/right-arm-state", "/right-arm-state.plot", "/right-ee-action", "/right-ee-action.plot", "/right-ee-state", "/right-ee-state.plot", "/right-wrist-camera", "/right-wrist-camera-info", "/top-camera", "/top-camera-info"], "camera_topics": ["/left-wrist-camera", "/right-wrist-camera", "/top-camera"], "camera_codecs": {"/right-wrist-camera": "h264", "/left-wrist-camera": "h264", "/top-camera": "h264"}, "duration_s": 106.08, "n_messages": 34731, "source_fps": 29.8, "reencoded_to_30fps": false, "_dataset_id": {"$oid": "6a552eb8565b467d07a7c69e"}, "created_at": {"$date": "2026-07-13T18:30:46.248Z"}, "last_modified_at": {"$date": "2026-07-13T19:41:44.475Z"}, "plot_topics": ["/left-arm-action.plot", "/left-arm-state.plot", "/left-ee-action.plot", "/left-ee-state.plot", "/right-arm-action.plot", "/right-arm-state.plot", "/right-ee-action.plot", "/right-ee-state.plot"]},{"_id": {"$oid": "6a552ed6565b467d07a7c6aa"}, "filepath": "data/val/pack_the_student_bag/episode_22d273c4-3bee-4d1a-8873-3ca21b83d122/episode.fo.mcap", "tags": ["val"], "_media_type": "multimodal", "_rand": 0.999980736161023, "split": "val", "task": "pack_the_student_bag", "episode_id": "episode_22d273c4-3bee-4d1a-8873-3ca21b83d122", "size_mb": 146.9, "station": "mono", "topics": ["/instruction", "/left-arm-action", "/left-arm-action.plot", "/left-arm-state", "/left-arm-state.plot", "/left-ee-action", "/left-ee-action.plot", "/left-ee-state", "/left-ee-state.plot", "/left-wrist-camera", "/left-wrist-camera-info", "/right-arm-action", "/right-arm-action.plot", "/right-arm-state", "/right-arm-state.plot", "/right-ee-action", "/right-ee-action.plot", "/right-ee-state", "/right-ee-state.plot", "/right-wrist-camera", "/right-wrist-camera-info", "/top-camera", "/top-camera-info"], "camera_topics": ["/left-wrist-camera", "/right-wrist-camera", "/top-camera"], "camera_codecs": {"/right-wrist-camera": "h264", "/left-wrist-camera": "h264", "/top-camera": "h264"}, "duration_s": 108.48, "n_messages": 35501, "source_fps": 29.7, "reencoded_to_30fps": false, "_dataset_id": {"$oid": "6a552eb8565b467d07a7c69e"}, "created_at": {"$date": "2026-07-13T18:30:46.249Z"}, "last_modified_at": {"$date": "2026-07-13T19:41:45.293Z"}, "plot_topics": ["/left-arm-action.plot", "/left-arm-state.plot", "/left-ee-action.plot", "/left-ee-state.plot", "/right-arm-action.plot", "/right-arm-state.plot", "/right-ee-action.plot", "/right-ee-state.plot"]},{"_id": {"$oid": "6a552ed6565b467d07a7c6ab"}, "filepath": "data/val/pack_up_the_instrument_practice_props/episode_ed9685d6-e42b-44a8-8a1d-352488ed4bc0/episode.fo.mcap", "tags": ["val"], "_media_type": "multimodal", "_rand": 0.9993089392129966, "split": "val", "task": "pack_up_the_instrument_practice_props", "episode_id": "episode_ed9685d6-e42b-44a8-8a1d-352488ed4bc0", "size_mb": 89.0, "station": "mono", "topics": ["/instruction", "/left-arm-action", "/left-arm-action.plot", "/left-arm-state", "/left-arm-state.plot", "/left-ee-action", "/left-ee-action.plot", "/left-ee-state", "/left-ee-state.plot", "/left-wrist-camera", "/left-wrist-camera-info", "/right-arm-action", "/right-arm-action.plot", "/right-arm-state", "/right-arm-state.plot", "/right-ee-action", "/right-ee-action.plot", "/right-ee-state", "/right-ee-state.plot", "/right-wrist-camera", "/right-wrist-camera-info", "/top-camera", "/top-camera-info"], "camera_topics": ["/left-wrist-camera", "/right-wrist-camera", "/top-camera"], "camera_codecs": {"/left-wrist-camera": "h264", "/right-wrist-camera": "h264", "/top-camera": "h264"}, "duration_s": 118.27, "n_messages": 38614, "source_fps": 29.7, "reencoded_to_30fps": false, "_dataset_id": {"$oid": "6a552eb8565b467d07a7c69e"}, "created_at": {"$date": "2026-07-13T18:30:46.249Z"}, "last_modified_at": {"$date": "2026-07-13T19:41:46.116Z"}, "plot_topics": ["/left-arm-action.plot", "/left-arm-state.plot", "/left-ee-action.plot", "/left-ee-state.plot", "/right-arm-action.plot", "/right-arm-state.plot", "/right-ee-action.plot", "/right-ee-state.plot"]},{"_id": {"$oid": "6a552ed6565b467d07a7c6ac"}, "filepath": "data/val/place_and_organize_the_chips_bags_onto_the_shelf/episode_373eabc7-5d1e-4a49-878f-5a8fefed6f74/episode.fo.mcap", "tags": ["val"], "_media_type": "multimodal", "_rand": 0.9991011792648566, "split": "val", "task": "place_and_organize_the_chips_bags_onto_the_shelf", "episode_id": "episode_373eabc7-5d1e-4a49-878f-5a8fefed6f74", "size_mb": 54.0, "station": "mono", "topics": ["/instruction", "/left-arm-action", "/left-arm-action.plot", "/left-arm-state", "/left-arm-state.plot", "/left-ee-action", "/left-ee-action.plot", "/left-ee-state", "/left-ee-state.plot", "/left-wrist-camera", "/left-wrist-camera-info", "/right-arm-action", "/right-arm-action.plot", "/right-arm-state", "/right-arm-state.plot", "/right-ee-action", "/right-ee-action.plot", "/right-ee-state", "/right-ee-state.plot", "/right-wrist-camera", "/right-wrist-camera-info", "/top-camera", "/top-camera-info"], "camera_topics": ["/left-wrist-camera", "/right-wrist-camera", "/top-camera"], "camera_codecs": {"/left-wrist-camera": "h264", "/top-camera": "h264", "/right-wrist-camera": "h264"}, "duration_s": 65.67, "n_messages": 21487, "source_fps": 29.7, "reencoded_to_30fps": false, "_dataset_id": {"$oid": "6a552eb8565b467d07a7c69e"}, "created_at": {"$date": "2026-07-13T18:30:46.249Z"}, "last_modified_at": {"$date": "2026-07-13T19:41:46.590Z"}, "plot_topics": ["/left-arm-action.plot", "/left-arm-state.plot", "/left-ee-action.plot", "/left-ee-state.plot", "/right-arm-action.plot", "/right-arm-state.plot", "/right-ee-action.plot", "/right-ee-state.plot"]},{"_id": {"$oid": "6a552ed6565b467d07a7c6ad"}, "filepath": "data/val/place_and_organize_the_pasta_boxes_and_bags_onto_the_shelf/episode_c50f525d-aeca-4f24-b3a7-a675792840e5/episode.fo.mcap", "tags": ["val"], "_media_type": "multimodal", "_rand": 0.9995378381586123, "split": "val", "task": "place_and_organize_the_pasta_boxes_and_bags_onto_the_shelf", "episode_id": "episode_c50f525d-aeca-4f24-b3a7-a675792840e5", "size_mb": 17.1, "station": "mono", "topics": ["/instruction", "/left-arm-action", "/left-arm-action.plot", "/left-arm-state", "/left-arm-state.plot", "/left-ee-action", "/left-ee-action.plot", "/left-ee-state", "/left-ee-state.plot", "/left-wrist-camera", "/left-wrist-camera-info", "/right-arm-action", "/right-arm-action.plot", "/right-arm-state", "/right-arm-state.plot", "/right-ee-action", "/right-ee-action.plot", "/right-ee-state", "/right-ee-state.plot", "/right-wrist-camera", "/right-wrist-camera-info", "/top-camera", "/top-camera-info"], "camera_topics": ["/left-wrist-camera", "/right-wrist-camera", "/top-camera"], "camera_codecs": {"/right-wrist-camera": "h264", "/top-camera": "h264", "/left-wrist-camera": "h264"}, "duration_s": 24.48, "n_messages": 7902, "source_fps": 29.3, "reencoded_to_30fps": false, "_dataset_id": {"$oid": "6a552eb8565b467d07a7c69e"}, "created_at": {"$date": "2026-07-13T18:30:46.249Z"}, "last_modified_at": {"$date": "2026-07-13T19:41:46.764Z"}, "plot_topics": ["/left-arm-action.plot", "/left-arm-state.plot", "/left-ee-action.plot", "/left-ee-state.plot", "/right-arm-action.plot", "/right-arm-state.plot", "/right-ee-action.plot", "/right-ee-state.plot"]},{"_id": {"$oid": "6a552ed6565b467d07a7c6ae"}, "filepath": "data/val/place_and_organize_the_stuffed_toys_onto_the_shelf/episode_c38173da-a486-47d4-a859-cde506ccb672/episode.fo.mcap", "tags": ["val"], "_media_type": "multimodal", "_rand": 0.999958928968549, "split": "val", "task": "place_and_organize_the_stuffed_toys_onto_the_shelf", "episode_id": "episode_c38173da-a486-47d4-a859-cde506ccb672", "size_mb": 28.1, "station": "mono", "topics": ["/instruction", "/left-arm-action", "/left-arm-action.plot", "/left-arm-state", "/left-arm-state.plot", "/left-ee-action", "/left-ee-action.plot", "/left-ee-state", "/left-ee-state.plot", "/left-wrist-camera", "/left-wrist-camera-info", "/right-arm-action", "/right-arm-action.plot", "/right-arm-state", "/right-arm-state.plot", "/right-ee-action", "/right-ee-action.plot", "/right-ee-state", "/right-ee-state.plot", "/right-wrist-camera", "/right-wrist-camera-info", "/top-camera", "/top-camera-info"], "camera_topics": ["/left-wrist-camera", "/right-wrist-camera", "/top-camera"], "camera_codecs": {"/right-wrist-camera": "h264", "/top-camera": "h264", "/left-wrist-camera": "h264"}, "duration_s": 43.9, "n_messages": 14359, "source_fps": 29.7, "reencoded_to_30fps": false, "_dataset_id": {"$oid": "6a552eb8565b467d07a7c69e"}, "created_at": {"$date": "2026-07-13T18:30:46.249Z"}, "last_modified_at": {"$date": "2026-07-13T19:41:47.052Z"}, "plot_topics": ["/left-arm-action.plot", "/left-arm-state.plot", "/left-ee-action.plot", "/left-ee-state.plot", "/right-arm-action.plot", "/right-arm-state.plot", "/right-ee-action.plot", "/right-ee-state.plot"]},{"_id": {"$oid": "6a552ed6565b467d07a7c6af"}, "filepath": "data/val/place_the_coffee_filter_in_the_dripper/episode_d1a409ed-e662-4bd4-8b00-4500fed7f07f/episode.fo.mcap", "tags": ["val"], "_media_type": "multimodal", "_rand": 0.9994145201267663, "split": "val", "task": "place_the_coffee_filter_in_the_dripper", "episode_id": "episode_d1a409ed-e662-4bd4-8b00-4500fed7f07f", "size_mb": 30.8, "station": "mono", "topics": ["/instruction", "/left-arm-action", "/left-arm-action.plot", "/left-arm-state", "/left-arm-state.plot", "/left-ee-action", "/left-ee-action.plot", "/left-ee-state", "/left-ee-state.plot", "/left-wrist-camera", "/left-wrist-camera-info", "/right-arm-action", "/right-arm-action.plot", "/right-arm-state", "/right-arm-state.plot", "/right-ee-action", "/right-ee-action.plot", "/right-ee-state", "/right-ee-state.plot", "/right-wrist-camera", "/right-wrist-camera-info", "/top-camera", "/top-camera-info"], "camera_topics": ["/left-wrist-camera", "/right-wrist-camera", "/top-camera"], "camera_codecs": {"/top-camera": "h264", "/left-wrist-camera": "h264", "/right-wrist-camera": "h264"}, "duration_s": 46.37, "n_messages": 15162, "source_fps": 29.7, "reencoded_to_30fps": false, "_dataset_id": {"$oid": "6a552eb8565b467d07a7c69e"}, "created_at": {"$date": "2026-07-13T18:30:46.249Z"}, "last_modified_at": {"$date": "2026-07-13T19:41:47.376Z"}, "plot_topics": ["/left-arm-action.plot", "/left-arm-state.plot", "/left-ee-action.plot", "/left-ee-state.plot", "/right-arm-action.plot", "/right-arm-state.plot", "/right-ee-action.plot", "/right-ee-state.plot"]},{"_id": {"$oid": "6a552ed6565b467d07a7c6b0"}, "filepath": "data/val/place_the_food_in_the_zip_top_bag_and_seal_the_zipper/episode_c691474f-63aa-4ae0-b913-2c62f1388e0f/episode.fo.mcap", "tags": ["val"], "_media_type": "multimodal", "_rand": 0.9990916823689227, "split": "val", "task": "place_the_food_in_the_zip_top_bag_and_seal_the_zipper", "episode_id": "episode_c691474f-63aa-4ae0-b913-2c62f1388e0f", "size_mb": 28.0, "station": "mono", "topics": ["/instruction", "/left-arm-action", "/left-arm-action.plot", "/left-arm-state", "/left-arm-state.plot", "/left-ee-action", "/left-ee-action.plot", "/left-ee-state", "/left-ee-state.plot", "/left-wrist-camera", "/left-wrist-camera-info", "/right-arm-action", "/right-arm-action.plot", "/right-arm-state", "/right-arm-state.plot", "/right-ee-action", "/right-ee-action.plot", "/right-ee-state", "/right-ee-state.plot", "/right-wrist-camera", "/right-wrist-camera-info", "/top-camera", "/top-camera-info"], "camera_topics": ["/left-wrist-camera", "/right-wrist-camera", "/top-camera"], "camera_codecs": {"/right-wrist-camera": "h264", "/top-camera": "h264", "/left-wrist-camera": "h264"}, "duration_s": 35.58, "n_messages": 11576, "source_fps": 29.6, "reencoded_to_30fps": false, "_dataset_id": {"$oid": "6a552eb8565b467d07a7c69e"}, "created_at": {"$date": "2026-07-13T18:30:46.249Z"}, "last_modified_at": {"$date": "2026-07-13T19:41:47.630Z"}, "plot_topics": ["/left-arm-action.plot", "/left-arm-state.plot", "/left-ee-action.plot", "/left-ee-state.plot", "/right-arm-action.plot", "/right-arm-state.plot", "/right-ee-action.plot", "/right-ee-state.plot"]},{"_id": {"$oid": "6a552ed6565b467d07a7c6b1"}, "filepath": "data/val/place_the_letter_into_the_envelope_and_seal_it/episode_eab39ed1-539c-48be-adbb-91754c18e884/episode.fo.mcap", "tags": ["val"], "_media_type": "multimodal", "_rand": 0.999837523989197, "split": "val", "task": "place_the_letter_into_the_envelope_and_seal_it", "episode_id": "episode_eab39ed1-539c-48be-adbb-91754c18e884", "size_mb": 137.8, "station": "mono", "topics": ["/instruction", "/left-arm-action", "/left-arm-action.plot", "/left-arm-state", "/left-arm-state.plot", "/left-ee-action", "/left-ee-action.plot", "/left-ee-state", "/left-ee-state.plot", "/left-wrist-camera", "/left-wrist-camera-info", "/right-arm-action", "/right-arm-action.plot", "/right-arm-state", "/right-arm-state.plot", "/right-ee-action", "/right-ee-action.plot", "/right-ee-state", "/right-ee-state.plot", "/right-wrist-camera", "/right-wrist-camera-info", "/top-camera", "/top-camera-info"], "camera_topics": ["/left-wrist-camera", "/right-wrist-camera", "/top-camera"], "camera_codecs": {"/right-wrist-camera": "h264", "/left-wrist-camera": "h264", "/top-camera": "h264"}, "duration_s": 99.63, "n_messages": 32630, "source_fps": 29.8, "reencoded_to_30fps": false, "_dataset_id": {"$oid": "6a552eb8565b467d07a7c69e"}, "created_at": {"$date": "2026-07-13T18:30:46.249Z"}, "last_modified_at": {"$date": "2026-07-13T19:41:48.419Z"}, "plot_topics": ["/left-arm-action.plot", "/left-arm-state.plot", "/left-ee-action.plot", "/left-ee-state.plot", "/right-arm-action.plot", "/right-arm-state.plot", "/right-ee-action.plot", "/right-ee-state.plot"]},{"_id": {"$oid": "6a552ed6565b467d07a7c6b2"}, "filepath": "data/val/place_the_plates_into_the_plastic_bin_on_the_countertop/episode_6751bfe7-9b70-4e81-85cf-f93be2929740/episode.fo.mcap", "tags": ["val"], "_media_type": "multimodal", "_rand": 0.9990627774661546, "split": "val", "task": "place_the_plates_into_the_plastic_bin_on_the_countertop", "episode_id": "episode_6751bfe7-9b70-4e81-85cf-f93be2929740", "size_mb": 20.6, "station": "mono", "topics": ["/instruction", "/left-arm-action", "/left-arm-action.plot", "/left-arm-state", "/left-arm-state.plot", "/left-ee-action", "/left-ee-action.plot", "/left-ee-state", "/left-ee-state.plot", "/left-wrist-camera", "/left-wrist-camera-info", "/right-arm-action", "/right-arm-action.plot", "/right-arm-state", "/right-arm-state.plot", "/right-ee-action", "/right-ee-action.plot", "/right-ee-state", "/right-ee-state.plot", "/right-wrist-camera", "/right-wrist-camera-info", "/top-camera", "/top-camera-info"], "camera_topics": ["/left-wrist-camera", "/right-wrist-camera", "/top-camera"], "camera_codecs": {"/top-camera": "h264", "/left-wrist-camera": "h264", "/right-wrist-camera": "h264"}, "duration_s": 22.71, "n_messages": 7396, "source_fps": 29.6, "reencoded_to_30fps": false, "_dataset_id": {"$oid": "6a552eb8565b467d07a7c69e"}, "created_at": {"$date": "2026-07-13T18:30:46.249Z"}, "last_modified_at": {"$date": "2026-07-13T19:41:48.589Z"}, "plot_topics": ["/left-arm-action.plot", "/left-arm-state.plot", "/left-ee-action.plot", "/left-ee-state.plot", "/right-arm-action.plot", "/right-arm-state.plot", "/right-ee-action.plot", "/right-ee-state.plot"]},{"_id": {"$oid": "6a552ed6565b467d07a7c6b3"}, "filepath": "data/val/place_the_t_shirt_on_the_hanger/episode_bcd51baf-c523-4e3b-944f-fd50d4ea963b/episode.fo.mcap", "tags": ["val"], "_media_type": "multimodal", "_rand": 0.9998708760395867, "split": "val", "task": "place_the_t_shirt_on_the_hanger", "episode_id": "episode_bcd51baf-c523-4e3b-944f-fd50d4ea963b", "size_mb": 16.0, "station": "mono", "topics": ["/instruction", "/left-arm-action", "/left-arm-action.plot", "/left-arm-state", "/left-arm-state.plot", "/left-ee-action", "/left-ee-action.plot", "/left-ee-state", "/left-ee-state.plot", "/left-wrist-camera", "/left-wrist-camera-info", "/right-arm-action", "/right-arm-action.plot", "/right-arm-state", "/right-arm-state.plot", "/right-ee-action", "/right-ee-action.plot", "/right-ee-state", "/right-ee-state.plot", "/right-wrist-camera", "/right-wrist-camera-info", "/top-camera", "/top-camera-info"], "camera_topics": ["/left-wrist-camera", "/right-wrist-camera", "/top-camera"], "camera_codecs": {"/right-wrist-camera": "h264", "/left-wrist-camera": "h264", "/top-camera": "h264"}, "duration_s": 21.57, "n_messages": 7077, "source_fps": 29.8, "reencoded_to_30fps": false, "_dataset_id": {"$oid": "6a552eb8565b467d07a7c69e"}, "created_at": {"$date": "2026-07-13T18:30:46.249Z"}, "last_modified_at": {"$date": "2026-07-13T19:41:48.745Z"}, "plot_topics": ["/left-arm-action.plot", "/left-arm-state.plot", "/left-ee-action.plot", "/left-ee-state.plot", "/right-arm-action.plot", "/right-arm-state.plot", "/right-ee-action.plot", "/right-ee-state.plot"]},{"_id": {"$oid": "6a552ed6565b467d07a7c6b4"}, "filepath": "data/val/place_the_wine_glass_upside_down_on_the_wine_glass_rack/episode_9b4ab142-9dd4-491b-b383-ebf941988f97/episode.fo.mcap", "tags": ["val"], "_media_type": "multimodal", "_rand": 0.9998143872253207, "split": "val", "task": "place_the_wine_glass_upside_down_on_the_wine_glass_rack", "episode_id": "episode_9b4ab142-9dd4-491b-b383-ebf941988f97", "size_mb": 67.9, "station": "mono", "topics": ["/instruction", "/left-arm-action", "/left-arm-action.plot", "/left-arm-state", "/left-arm-state.plot", "/left-ee-action", "/left-ee-action.plot", "/left-ee-state", "/left-ee-state.plot", "/left-wrist-camera", "/left-wrist-camera-info", "/right-arm-action", "/right-arm-action.plot", "/right-arm-state", "/right-arm-state.plot", "/right-ee-action", "/right-ee-action.plot", "/right-ee-state", "/right-ee-state.plot", "/right-wrist-camera", "/right-wrist-camera-info", "/top-camera", "/top-camera-info"], "camera_topics": ["/left-wrist-camera", "/right-wrist-camera", "/top-camera"], "camera_codecs": {"/left-wrist-camera": "h264", "/top-camera": "h264", "/right-wrist-camera": "h264"}, "duration_s": 114.0, "n_messages": 37184, "source_fps": 29.6, "reencoded_to_30fps": false, "_dataset_id": {"$oid": "6a552eb8565b467d07a7c69e"}, "created_at": {"$date": "2026-07-13T18:30:46.249Z"}, "last_modified_at": {"$date": "2026-07-13T19:41:49.492Z"}, "plot_topics": ["/left-arm-action.plot", "/left-arm-state.plot", "/left-ee-action.plot", "/left-ee-state.plot", "/right-arm-action.plot", "/right-arm-state.plot", "/right-ee-action.plot", "/right-ee-state.plot"]},{"_id": {"$oid": "6a552ed6565b467d07a7c6b5"}, "filepath": "data/val/put_away_the_umbrella/episode_50fca024-3e12-4841-84c2-9c9b095d7b23/episode.fo.mcap", "tags": ["val"], "_media_type": "multimodal", "_rand": 0.9991731644609173, "split": "val", "task": "put_away_the_umbrella", "episode_id": "episode_50fca024-3e12-4841-84c2-9c9b095d7b23", "size_mb": 84.6, "station": "mono", "topics": ["/instruction", "/left-arm-action", "/left-arm-action.plot", "/left-arm-state", "/left-arm-state.plot", "/left-ee-action", "/left-ee-action.plot", "/left-ee-state", "/left-ee-state.plot", "/left-wrist-camera", "/left-wrist-camera-info", "/right-arm-action", "/right-arm-action.plot", "/right-arm-state", "/right-arm-state.plot", "/right-ee-action", "/right-ee-action.plot", "/right-ee-state", "/right-ee-state.plot", "/right-wrist-camera", "/right-wrist-camera-info", "/top-camera", "/top-camera-info"], "camera_topics": ["/left-wrist-camera", "/right-wrist-camera", "/top-camera"], "camera_codecs": {"/right-wrist-camera": "h264", "/left-wrist-camera": "h264", "/top-camera": "h264"}, "duration_s": 92.76, "n_messages": 30397, "source_fps": 29.8, "reencoded_to_30fps": false, "_dataset_id": {"$oid": "6a552eb8565b467d07a7c69e"}, "created_at": {"$date": "2026-07-13T18:30:46.249Z"}, "last_modified_at": {"$date": "2026-07-13T19:41:50.193Z"}, "plot_topics": ["/left-arm-action.plot", "/left-arm-state.plot", "/left-ee-action.plot", "/left-ee-state.plot", "/right-arm-action.plot", "/right-arm-state.plot", "/right-ee-action.plot", "/right-ee-state.plot"]},{"_id": {"$oid": "6a552ed6565b467d07a7c6b6"}, "filepath": "data/val/put_the_photo_into_the_frame/episode_7df33bd4-f1bc-443b-a3ec-032e8cf58155/episode.fo.mcap", "tags": ["val"], "_media_type": "multimodal", "_rand": 0.9990457858704445, "split": "val", "task": "put_the_photo_into_the_frame", "episode_id": "episode_7df33bd4-f1bc-443b-a3ec-032e8cf58155", "size_mb": 123.1, "station": "mono", "topics": ["/instruction", "/left-arm-action", "/left-arm-action.plot", "/left-arm-state", "/left-arm-state.plot", "/left-ee-action", "/left-ee-action.plot", "/left-ee-state", "/left-ee-state.plot", "/left-wrist-camera", "/left-wrist-camera-info", "/right-arm-action", "/right-arm-action.plot", "/right-arm-state", "/right-arm-state.plot", "/right-ee-action", "/right-ee-action.plot", "/right-ee-state", "/right-ee-state.plot", "/right-wrist-camera", "/right-wrist-camera-info", "/top-camera", "/top-camera-info"], "camera_topics": ["/left-wrist-camera", "/right-wrist-camera", "/top-camera"], "camera_codecs": {"/left-wrist-camera": "h264", "/top-camera": "h264", "/right-wrist-camera": "h264"}, "duration_s": 120.37, "n_messages": 39406, "source_fps": 29.8, "reencoded_to_30fps": false, "_dataset_id": {"$oid": "6a552eb8565b467d07a7c69e"}, "created_at": {"$date": "2026-07-13T18:30:46.249Z"}, "last_modified_at": {"$date": "2026-07-13T19:41:51.109Z"}, "plot_topics": ["/left-arm-action.plot", "/left-arm-state.plot", "/left-ee-action.plot", "/left-ee-state.plot", "/right-arm-action.plot", "/right-arm-state.plot", "/right-ee-action.plot", "/right-ee-state.plot"]},{"_id": {"$oid": "6a552ed6565b467d07a7c6b7"}, "filepath": "data/val/put_the_wine_bottle_on_the_wine_rack/episode_040cbc2d-8f2b-4965-9d89-071599c36f59/episode.fo.mcap", "tags": ["val"], "_media_type": "multimodal", "_rand": 0.9991547475881428, "split": "val", "task": "put_the_wine_bottle_on_the_wine_rack", "episode_id": "episode_040cbc2d-8f2b-4965-9d89-071599c36f59", "size_mb": 88.4, "station": "mono", "topics": ["/instruction", "/left-arm-action", "/left-arm-action.plot", "/left-arm-state", "/left-arm-state.plot", "/left-ee-action", "/left-ee-action.plot", "/left-ee-state", "/left-ee-state.plot", "/left-wrist-camera", "/left-wrist-camera-info", "/right-arm-action", "/right-arm-action.plot", "/right-arm-state", "/right-arm-state.plot", "/right-ee-action", "/right-ee-action.plot", "/right-ee-state", "/right-ee-state.plot", "/right-wrist-camera", "/right-wrist-camera-info", "/top-camera", "/top-camera-info"], "camera_topics": ["/left-wrist-camera", "/right-wrist-camera", "/top-camera"], "camera_codecs": {"/right-wrist-camera": "h264", "/top-camera": "h264", "/left-wrist-camera": "h264"}, "duration_s": 97.07, "n_messages": 31992, "source_fps": 30.0, "reencoded_to_30fps": false, "_dataset_id": {"$oid": "6a552eb8565b467d07a7c69e"}, "created_at": {"$date": "2026-07-13T18:30:46.250Z"}, "last_modified_at": {"$date": "2026-07-13T19:41:51.823Z"}, "plot_topics": ["/left-arm-action.plot", "/left-arm-state.plot", "/left-ee-action.plot", "/left-ee-state.plot", "/right-arm-action.plot", "/right-arm-state.plot", "/right-ee-action.plot", "/right-ee-state.plot"]},{"_id": {"$oid": "6a552ed6565b467d07a7c6b8"}, "filepath": "data/val/remove_the_phone_from_the_phone_stand/episode_da3c148e-d480-47df-9fa0-2c94b7013fa6/episode.fo.mcap", "tags": ["val"], "_media_type": "multimodal", "_rand": 0.9996466122082884, "split": "val", "task": "remove_the_phone_from_the_phone_stand", "episode_id": "episode_da3c148e-d480-47df-9fa0-2c94b7013fa6", "size_mb": 39.8, "station": "mono", "topics": ["/instruction", "/left-arm-action", "/left-arm-action.plot", "/left-arm-state", "/left-arm-state.plot", "/left-ee-action", "/left-ee-action.plot", "/left-ee-state", "/left-ee-state.plot", "/left-wrist-camera", "/left-wrist-camera-info", "/right-arm-action", "/right-arm-action.plot", "/right-arm-state", "/right-arm-state.plot", "/right-ee-action", "/right-ee-action.plot", "/right-ee-state", "/right-ee-state.plot", "/right-wrist-camera", "/right-wrist-camera-info", "/top-camera", "/top-camera-info"], "camera_topics": ["/left-wrist-camera", "/right-wrist-camera", "/top-camera"], "camera_codecs": {"/top-camera": "h264", "/left-wrist-camera": "h264", "/right-wrist-camera": "h264"}, "duration_s": 65.84, "n_messages": 21509, "source_fps": 29.7, "reencoded_to_30fps": false, "_dataset_id": {"$oid": "6a552eb8565b467d07a7c69e"}, "created_at": {"$date": "2026-07-13T18:30:46.250Z"}, "last_modified_at": {"$date": "2026-07-13T19:41:52.281Z"}, "plot_topics": ["/left-arm-action.plot", "/left-arm-state.plot", "/left-ee-action.plot", "/left-ee-state.plot", "/right-arm-action.plot", "/right-arm-state.plot", "/right-ee-action.plot", "/right-ee-state.plot"]},{"_id": {"$oid": "6a552ed6565b467d07a7c6b9"}, "filepath": "data/val/remove_the_socks_clipped_to_the_hanger/episode_cfe85fb7-6b19-4fb8-8f88-e9d68d161436/episode.fo.mcap", "tags": ["val"], "_media_type": "multimodal", "_rand": 0.9992241953447508, "split": "val", "task": "remove_the_socks_clipped_to_the_hanger", "episode_id": "episode_cfe85fb7-6b19-4fb8-8f88-e9d68d161436", "size_mb": 36.9, "station": "mono", "topics": ["/instruction", "/left-arm-action", "/left-arm-action.plot", "/left-arm-state", "/left-arm-state.plot", "/left-ee-action", "/left-ee-action.plot", "/left-ee-state", "/left-ee-state.plot", "/left-wrist-camera", "/left-wrist-camera-info", "/right-arm-action", "/right-arm-action.plot", "/right-arm-state", "/right-arm-state.plot", "/right-ee-action", "/right-ee-action.plot", "/right-ee-state", "/right-ee-state.plot", "/right-wrist-camera", "/right-wrist-camera-info", "/top-camera", "/top-camera-info"], "camera_topics": ["/left-wrist-camera", "/right-wrist-camera", "/top-camera"], "camera_codecs": {"/right-wrist-camera": "h264", "/left-wrist-camera": "h264", "/top-camera": "h264"}, "duration_s": 43.78, "n_messages": 14326, "source_fps": 29.7, "reencoded_to_30fps": false, "_dataset_id": {"$oid": "6a552eb8565b467d07a7c69e"}, "created_at": {"$date": "2026-07-13T18:30:46.250Z"}, "last_modified_at": {"$date": "2026-07-13T19:41:52.625Z"}, "plot_topics": ["/left-arm-action.plot", "/left-arm-state.plot", "/left-ee-action.plot", "/left-ee-state.plot", "/right-arm-action.plot", "/right-arm-state.plot", "/right-ee-action.plot", "/right-ee-state.plot"]},{"_id": {"$oid": "6a552ed6565b467d07a7c6ba"}, "filepath": "data/val/roll_out_the_dumpling_wrappers_from_the_dough/episode_2e52777f-5602-4d70-9ec1-19b292991489/episode.fo.mcap", "tags": ["val"], "_media_type": "multimodal", "_rand": 0.9998723352585809, "split": "val", "task": "roll_out_the_dumpling_wrappers_from_the_dough", "episode_id": "episode_2e52777f-5602-4d70-9ec1-19b292991489", "size_mb": 494.1, "station": "mono", "topics": ["/instruction", "/left-arm-action", "/left-arm-action.plot", "/left-arm-state", "/left-arm-state.plot", "/left-ee-action", "/left-ee-action.plot", "/left-ee-state", "/left-ee-state.plot", "/left-wrist-camera", "/left-wrist-camera-info", "/right-arm-action", "/right-arm-action.plot", "/right-arm-state", "/right-arm-state.plot", "/right-ee-action", "/right-ee-action.plot", "/right-ee-state", "/right-ee-state.plot", "/right-wrist-camera", "/right-wrist-camera-info", "/top-camera", "/top-camera-info"], "camera_topics": ["/left-wrist-camera", "/right-wrist-camera", "/top-camera"], "camera_codecs": {"/top-camera": "h264", "/right-wrist-camera": "h264", "/left-wrist-camera": "h264"}, "duration_s": 316.76, "n_messages": 103668, "source_fps": 29.8, "reencoded_to_30fps": false, "_dataset_id": {"$oid": "6a552eb8565b467d07a7c69e"}, "created_at": {"$date": "2026-07-13T18:30:46.250Z"}, "last_modified_at": {"$date": "2026-07-13T19:41:55.341Z"}, "plot_topics": ["/left-arm-action.plot", "/left-arm-state.plot", "/left-ee-action.plot", "/left-ee-state.plot", "/right-arm-action.plot", "/right-arm-state.plot", "/right-ee-action.plot", "/right-ee-state.plot"]},{"_id": {"$oid": "6a552ed6565b467d07a7c6bb"}, "filepath": "data/val/screw_on_the_bottle_caps/episode_d8da080b-3735-42d1-b47d-cf6460bc9f12/episode.fo.mcap", "tags": ["val"], "_media_type": "multimodal", "_rand": 0.999854641644696, "split": "val", "task": "screw_on_the_bottle_caps", "episode_id": "episode_d8da080b-3735-42d1-b47d-cf6460bc9f12", "size_mb": 150.2, "station": "mono", "topics": ["/instruction", "/left-arm-action", "/left-arm-action.plot", "/left-arm-state", "/left-arm-state.plot", "/left-ee-action", "/left-ee-action.plot", "/left-ee-state", "/left-ee-state.plot", "/left-wrist-camera", "/left-wrist-camera-info", "/right-arm-action", "/right-arm-action.plot", "/right-arm-state", "/right-arm-state.plot", "/right-ee-action", "/right-ee-action.plot", "/right-ee-state", "/right-ee-state.plot", "/right-wrist-camera", "/right-wrist-camera-info", "/top-camera", "/top-camera-info"], "camera_topics": ["/left-wrist-camera", "/right-wrist-camera", "/top-camera"], "camera_codecs": {"/right-wrist-camera": "h264", "/left-wrist-camera": "h264", "/top-camera": "h264"}, "duration_s": 175.42, "n_messages": 57303, "source_fps": 29.7, "reencoded_to_30fps": false, "_dataset_id": {"$oid": "6a552eb8565b467d07a7c69e"}, "created_at": {"$date": "2026-07-13T18:30:46.250Z"}, "last_modified_at": {"$date": "2026-07-13T19:41:56.664Z"}, "plot_topics": ["/left-arm-action.plot", "/left-arm-state.plot", "/left-ee-action.plot", "/left-ee-state.plot", "/right-arm-action.plot", "/right-arm-state.plot", "/right-ee-action.plot", "/right-ee-state.plot"]},{"_id": {"$oid": "6a552ed6565b467d07a7c6bc"}, "filepath": "data/val/set_the_dinner_table_for_one_person/episode_9949ff89-e1f4-48f1-9bde-9039d97a1ace/episode.fo.mcap", "tags": ["val"], "_media_type": "multimodal", "_rand": 0.9991608470344702, "split": "val", "task": "set_the_dinner_table_for_one_person", "episode_id": "episode_9949ff89-e1f4-48f1-9bde-9039d97a1ace", "size_mb": 25.6, "station": "mono", "topics": ["/instruction", "/left-arm-action", "/left-arm-action.plot", "/left-arm-state", "/left-arm-state.plot", "/left-ee-action", "/left-ee-action.plot", "/left-ee-state", "/left-ee-state.plot", "/left-wrist-camera", "/right-arm-action", "/right-arm-action.plot", "/right-arm-state", "/right-arm-state.plot", "/right-ee-action", "/right-ee-action.plot", "/right-ee-state", "/right-ee-state.plot", "/right-wrist-camera", "/right-wrist-camera-info", "/top-camera", "/top-camera-info"], "camera_topics": ["/left-wrist-camera", "/right-wrist-camera", "/top-camera"], "camera_codecs": {"/left-wrist-camera": "h264", "/top-camera": "h264", "/right-wrist-camera": "h264"}, "duration_s": 37.19, "n_messages": 12048, "source_fps": 29.4, "reencoded_to_30fps": false, "_dataset_id": {"$oid": "6a552eb8565b467d07a7c69e"}, "created_at": {"$date": "2026-07-13T18:30:46.250Z"}, "last_modified_at": {"$date": "2026-07-13T19:41:56.930Z"}, "plot_topics": ["/left-arm-action.plot", "/left-arm-state.plot", "/left-ee-action.plot", "/left-ee-state.plot", "/right-arm-action.plot", "/right-arm-state.plot", "/right-ee-action.plot", "/right-ee-state.plot"]},{"_id": {"$oid": "6a552ed6565b467d07a7c6bd"}, "filepath": "data/val/sort_the_hair_cutting_tools/episode_f56133b0-06b8-4fbb-9383-b74c10e9411b/episode.fo.mcap", "tags": ["val"], "_media_type": "multimodal", "_rand": 0.9993679617642108, "split": "val", "task": "sort_the_hair_cutting_tools", "episode_id": "episode_f56133b0-06b8-4fbb-9383-b74c10e9411b", "size_mb": 113.7, "station": "mono", "topics": ["/instruction", "/left-arm-action", "/left-arm-action.plot", "/left-arm-state", "/left-arm-state.plot", "/left-ee-action", "/left-ee-action.plot", "/left-ee-state", "/left-ee-state.plot", "/left-wrist-camera", "/left-wrist-camera-info", "/right-arm-action", "/right-arm-action.plot", "/right-arm-state", "/right-arm-state.plot", "/right-ee-action", "/right-ee-action.plot", "/right-ee-state", "/right-ee-state.plot", "/right-wrist-camera", "/right-wrist-camera-info", "/top-camera", "/top-camera-info"], "camera_topics": ["/left-wrist-camera", "/right-wrist-camera", "/top-camera"], "camera_codecs": {"/top-camera": "h264", "/right-wrist-camera": "h264", "/left-wrist-camera": "h264"}, "duration_s": 145.45, "n_messages": 47579, "source_fps": 29.7, "reencoded_to_30fps": false, "_dataset_id": {"$oid": "6a552eb8565b467d07a7c69e"}, "created_at": {"$date": "2026-07-13T18:30:46.250Z"}, "last_modified_at": {"$date": "2026-07-13T19:41:57.974Z"}, "plot_topics": ["/left-arm-action.plot", "/left-arm-state.plot", "/left-ee-action.plot", "/left-ee-state.plot", "/right-arm-action.plot", "/right-arm-state.plot", "/right-ee-action.plot", "/right-ee-state.plot"]},{"_id": {"$oid": "6a552ed6565b467d07a7c6be"}, "filepath": "data/val/sort_the_tools_into_containers/episode_bfb7dd87-f805-41d4-acdf-e055f0647dc1/episode.fo.mcap", "tags": ["val"], "_media_type": "multimodal", "_rand": 0.9998715043965967, "split": "val", "task": "sort_the_tools_into_containers", "episode_id": "episode_bfb7dd87-f805-41d4-acdf-e055f0647dc1", "size_mb": 21.1, "station": "mono", "topics": ["/instruction", "/left-arm-action", "/left-arm-action.plot", "/left-arm-state", "/left-arm-state.plot", "/left-ee-action", "/left-ee-action.plot", "/left-ee-state", "/left-ee-state.plot", "/left-wrist-camera", "/left-wrist-camera-info", "/right-arm-action", "/right-arm-action.plot", "/right-arm-state", "/right-arm-state.plot", "/right-ee-action", "/right-ee-action.plot", "/right-ee-state", "/right-ee-state.plot", "/right-wrist-camera", "/right-wrist-camera-info", "/top-camera", "/top-camera-info"], "camera_topics": ["/left-wrist-camera", "/right-wrist-camera", "/top-camera"], "camera_codecs": {"/top-camera": "h264", "/left-wrist-camera": "h264", "/right-wrist-camera": "h264"}, "duration_s": 34.25, "n_messages": 11114, "source_fps": 29.5, "reencoded_to_30fps": false, "_dataset_id": {"$oid": "6a552eb8565b467d07a7c69e"}, "created_at": {"$date": "2026-07-13T18:30:46.250Z"}, "last_modified_at": {"$date": "2026-07-13T19:41:58.265Z"}, "plot_topics": ["/left-arm-action.plot", "/left-arm-state.plot", "/left-ee-action.plot", "/left-ee-state.plot", "/right-arm-action.plot", "/right-arm-state.plot", "/right-ee-action.plot", "/right-ee-state.plot"]},{"_id": {"$oid": "6a552ed6565b467d07a7c6bf"}, "filepath": "data/val/take_the_beverage_out_of_the_canvas_bag/episode_6a9d4cd6-9fca-404d-bb66-07ff8731197c/episode.fo.mcap", "tags": ["val"], "_media_type": "multimodal", "_rand": 0.9997669958782248, "split": "val", "task": "take_the_beverage_out_of_the_canvas_bag", "episode_id": "episode_6a9d4cd6-9fca-404d-bb66-07ff8731197c", "size_mb": 71.5, "station": "mono", "topics": ["/instruction", "/left-arm-action", "/left-arm-action.plot", "/left-arm-state", "/left-arm-state.plot", "/left-ee-action", "/left-ee-action.plot", "/left-ee-state", "/left-ee-state.plot", "/left-wrist-camera", "/left-wrist-camera-info", "/right-arm-action", "/right-arm-action.plot", "/right-arm-state", "/right-arm-state.plot", "/right-ee-action", "/right-ee-action.plot", "/right-ee-state", "/right-ee-state.plot", "/right-wrist-camera", "/right-wrist-camera-info", "/top-camera", "/top-camera-info"], "camera_topics": ["/left-wrist-camera", "/right-wrist-camera", "/top-camera"], "camera_codecs": {"/left-wrist-camera": "h264", "/top-camera": "h264", "/right-wrist-camera": "h264"}, "duration_s": 56.1, "n_messages": 18352, "source_fps": 29.7, "reencoded_to_30fps": false, "_dataset_id": {"$oid": "6a552eb8565b467d07a7c69e"}, "created_at": {"$date": "2026-07-13T18:30:46.250Z"}, "last_modified_at": {"$date": "2026-07-13T19:41:58.683Z"}, "plot_topics": ["/left-arm-action.plot", "/left-arm-state.plot", "/left-ee-action.plot", "/left-ee-state.plot", "/right-arm-action.plot", "/right-arm-state.plot", "/right-ee-action.plot", "/right-ee-state.plot"]},{"_id": {"$oid": "6a552ed6565b467d07a7c6c0"}, "filepath": "data/val/take_the_phone_out_of_the_phone_case/episode_e25ebd62-c367-4ee6-910e-c83e64976286/episode.fo.mcap", "tags": ["val"], "_media_type": "multimodal", "_rand": 0.9993101315172903, "split": "val", "task": "take_the_phone_out_of_the_phone_case", "episode_id": "episode_e25ebd62-c367-4ee6-910e-c83e64976286", "size_mb": 76.3, "station": "mono", "topics": ["/instruction", "/left-arm-action", "/left-arm-action.plot", "/left-arm-state", "/left-arm-state.plot", "/left-ee-action", "/left-ee-action.plot", "/left-ee-state", "/left-ee-state.plot", "/left-wrist-camera", "/left-wrist-camera-info", "/right-arm-action", "/right-arm-action.plot", "/right-arm-state", "/right-arm-state.plot", "/right-ee-action", "/right-ee-action.plot", "/right-ee-state", "/right-ee-state.plot", "/right-wrist-camera", "/right-wrist-camera-info", "/top-camera", "/top-camera-info"], "camera_topics": ["/left-wrist-camera", "/right-wrist-camera", "/top-camera"], "camera_codecs": {"/top-camera": "h264", "/right-wrist-camera": "h264", "/left-wrist-camera": "h264"}, "duration_s": 105.57, "n_messages": 34577, "source_fps": 29.8, "reencoded_to_30fps": false, "_dataset_id": {"$oid": "6a552eb8565b467d07a7c69e"}, "created_at": {"$date": "2026-07-13T18:30:46.250Z"}, "last_modified_at": {"$date": "2026-07-13T19:41:59.438Z"}, "plot_topics": ["/left-arm-action.plot", "/left-arm-state.plot", "/left-ee-action.plot", "/left-ee-state.plot", "/right-arm-action.plot", "/right-arm-state.plot", "/right-ee-action.plot", "/right-ee-state.plot"]},{"_id": {"$oid": "6a552ed6565b467d07a7c6c1"}, "filepath": "data/val/unload_the_batteries_from_the_remote_control/episode_8bc6e7e4-c9cc-4dd5-9b65-7d4903686bc7/episode.fo.mcap", "tags": ["val"], "_media_type": "multimodal", "_rand": 0.9994756004993153, "split": "val", "task": "unload_the_batteries_from_the_remote_control", "episode_id": "episode_8bc6e7e4-c9cc-4dd5-9b65-7d4903686bc7", "size_mb": 121.8, "station": "mono", "topics": ["/instruction", "/left-arm-action", "/left-arm-action.plot", "/left-arm-state", "/left-arm-state.plot", "/left-ee-action", "/left-ee-action.plot", "/left-ee-state", "/left-ee-state.plot", "/left-wrist-camera", "/left-wrist-camera-info", "/right-arm-action", "/right-arm-action.plot", "/right-arm-state", "/right-arm-state.plot", "/right-ee-action", "/right-ee-action.plot", "/right-ee-state", "/right-ee-state.plot", "/right-wrist-camera", "/right-wrist-camera-info", "/top-camera", "/top-camera-info"], "camera_topics": ["/left-wrist-camera", "/right-wrist-camera", "/top-camera"], "camera_codecs": {"/left-wrist-camera": "h264", "/top-camera": "h264", "/right-wrist-camera": "h264"}, "duration_s": 110.17, "n_messages": 35974, "source_fps": 29.7, "reencoded_to_30fps": false, "_dataset_id": {"$oid": "6a552eb8565b467d07a7c69e"}, "created_at": {"$date": "2026-07-13T18:30:46.250Z"}, "last_modified_at": {"$date": "2026-07-13T19:42:00.256Z"}, "plot_topics": ["/left-arm-action.plot", "/left-arm-state.plot", "/left-ee-action.plot", "/left-ee-state.plot", "/right-arm-action.plot", "/right-arm-state.plot", "/right-ee-action.plot", "/right-ee-state.plot"]},{"_id": {"$oid": "6a552ed6565b467d07a7c6c2"}, "filepath": "data/val/unload_the_plates_from_the_dish_rack/episode_136b4439-cc85-458d-bb21-723d3a1cc563/episode.fo.mcap", "tags": ["val"], "_media_type": "multimodal", "_rand": 0.9993985258008566, "split": "val", "task": "unload_the_plates_from_the_dish_rack", "episode_id": "episode_136b4439-cc85-458d-bb21-723d3a1cc563", "size_mb": 25.6, "station": "mono", "topics": ["/instruction", "/left-arm-action", "/left-arm-action.plot", "/left-arm-state", "/left-arm-state.plot", "/left-ee-action", "/left-ee-action.plot", "/left-ee-state", "/left-ee-state.plot", "/left-wrist-camera", "/left-wrist-camera-info", "/right-arm-action", "/right-arm-action.plot", "/right-arm-state", "/right-arm-state.plot", "/right-ee-action", "/right-ee-action.plot", "/right-ee-state", "/right-ee-state.plot", "/right-wrist-camera", "/right-wrist-camera-info", "/top-camera", "/top-camera-info"], "camera_topics": ["/left-wrist-camera", "/right-wrist-camera", "/top-camera"], "camera_codecs": {"/right-wrist-camera": "h264", "/top-camera": "h264", "/left-wrist-camera": "h264"}, "duration_s": 39.94, "n_messages": 13116, "source_fps": 29.8, "reencoded_to_30fps": false, "_dataset_id": {"$oid": "6a552eb8565b467d07a7c69e"}, "created_at": {"$date": "2026-07-13T18:30:46.250Z"}, "last_modified_at": {"$date": "2026-07-13T19:42:00.543Z"}, "plot_topics": ["/left-arm-action.plot", "/left-arm-state.plot", "/left-ee-action.plot", "/left-ee-state.plot", "/right-arm-action.plot", "/right-arm-state.plot", "/right-ee-action.plot", "/right-ee-state.plot"]},{"_id": {"$oid": "6a552ed6565b467d07a7c6c3"}, "filepath": "data/val/unscrew_the_bottle_caps/episode_0f0b1d3b-5edd-4ed5-ace6-4c8a47acb0c5/episode.fo.mcap", "tags": ["val"], "_media_type": "multimodal", "_rand": 0.9996768612951271, "split": "val", "task": "unscrew_the_bottle_caps", "episode_id": "episode_0f0b1d3b-5edd-4ed5-ace6-4c8a47acb0c5", "size_mb": 116.4, "station": "mono", "topics": ["/instruction", "/left-arm-action", "/left-arm-action.plot", "/left-arm-state", "/left-arm-state.plot", "/left-ee-action", "/left-ee-action.plot", "/left-ee-state", "/left-ee-state.plot", "/left-wrist-camera", "/left-wrist-camera-info", "/right-arm-action", "/right-arm-action.plot", "/right-arm-state", "/right-arm-state.plot", "/right-ee-action", "/right-ee-action.plot", "/right-ee-state", "/right-ee-state.plot", "/right-wrist-camera", "/right-wrist-camera-info", "/top-camera", "/top-camera-info"], "camera_topics": ["/left-wrist-camera", "/right-wrist-camera", "/top-camera"], "camera_codecs": {"/top-camera": "h264", "/right-wrist-camera": "h264", "/left-wrist-camera": "h264"}, "duration_s": 124.04, "n_messages": 40495, "source_fps": 29.7, "reencoded_to_30fps": false, "_dataset_id": {"$oid": "6a552eb8565b467d07a7c69e"}, "created_at": {"$date": "2026-07-13T18:30:46.250Z"}, "last_modified_at": {"$date": "2026-07-13T19:42:01.472Z"}, "plot_topics": ["/left-arm-action.plot", "/left-arm-state.plot", "/left-ee-action.plot", "/left-ee-state.plot", "/right-arm-action.plot", "/right-arm-state.plot", "/right-ee-action.plot", "/right-ee-state.plot"]},{"_id": {"$oid": "6a552ed6565b467d07a7c6c4"}, "filepath": "data/val/wrap_the_cables/episode_dea0b2c4-20bd-4dd9-9557-ef1ecb38d7e3/episode.fo.mcap", "tags": ["val"], "_media_type": "multimodal", "_rand": 0.9993354448223274, "split": "val", "task": "wrap_the_cables", "episode_id": "episode_dea0b2c4-20bd-4dd9-9557-ef1ecb38d7e3", "size_mb": 58.5, "station": "mono", "topics": ["/instruction", "/left-arm-action", "/left-arm-action.plot", "/left-arm-state", "/left-arm-state.plot", "/left-ee-action", "/left-ee-action.plot", "/left-ee-state", "/left-ee-state.plot", "/left-wrist-camera", "/left-wrist-camera-info", "/right-arm-action", "/right-arm-action.plot", "/right-arm-state", "/right-arm-state.plot", "/right-ee-action", "/right-ee-action.plot", "/right-ee-state", "/right-ee-state.plot", "/right-wrist-camera", "/right-wrist-camera-info", "/top-camera", "/top-camera-info"], "camera_topics": ["/left-wrist-camera", "/right-wrist-camera", "/top-camera"], "camera_codecs": {"/right-wrist-camera": "h264", "/top-camera": "h264", "/left-wrist-camera": "h264"}, "duration_s": 68.23, "n_messages": 22477, "source_fps": 29.9, "reencoded_to_30fps": false, "_dataset_id": {"$oid": "6a552eb8565b467d07a7c69e"}, "created_at": {"$date": "2026-07-13T18:30:46.250Z"}, "last_modified_at": {"$date": "2026-07-13T19:42:01.964Z"}, "plot_topics": ["/left-arm-action.plot", "/left-arm-state.plot", "/left-ee-action.plot", "/left-ee-state.plot", "/right-arm-action.plot", "/right-arm-state.plot", "/right-ee-action.plot", "/right-ee-state.plot"]},{"_id": {"$oid": "6a552ed6565b467d07a7c6c5"}, "filepath": "data/val/put_the_screwdriver_in_the_bin/episode_02eb2789-4234-4d4c-984e-08872ed00c1d/episode.fo.mcap", "tags": ["val"], "_media_type": "multimodal", "_rand": 0.9992009103951071, "split": "val", "task": "put_the_screwdriver_in_the_bin", "episode_id": "episode_02eb2789-4234-4d4c-984e-08872ed00c1d", "size_mb": 3.2, "station": "mono", "topics": ["/instruction", "/left-arm-action", "/left-arm-action.plot", "/left-arm-state", "/left-arm-state.plot", "/left-ee-action", "/left-ee-action.plot", "/left-ee-state", "/left-ee-state.plot", "/left-wrist-camera", "/left-wrist-camera-info", "/right-arm-action", "/right-arm-action.plot", "/right-arm-state", "/right-arm-state.plot", "/right-ee-action", "/right-ee-action.plot", "/right-ee-state", "/right-ee-state.plot", "/right-wrist-camera", "/right-wrist-camera-info", "/top-camera", "/top-camera-info"], "camera_topics": ["/left-wrist-camera", "/right-wrist-camera", "/top-camera"], "camera_codecs": {"/top-camera": "h264", "/left-wrist-camera": "h264", "/right-wrist-camera": "h264"}, "duration_s": 4.62, "n_messages": 1500, "source_fps": 29.4, "reencoded_to_30fps": false, "_dataset_id": {"$oid": "6a552eb8565b467d07a7c69e"}, "created_at": {"$date": "2026-07-13T18:30:46.251Z"}, "last_modified_at": {"$date": "2026-07-13T19:42:02.003Z"}, "plot_topics": ["/left-arm-action.plot", "/left-arm-state.plot", "/left-ee-action.plot", "/left-ee-state.plot", "/right-arm-action.plot", "/right-arm-state.plot", "/right-ee-action.plot", "/right-ee-state.plot"]},{"_id": {"$oid": "6a552ed6565b467d07a7c6c6"}, "filepath": "data/val/place_and_organize_the_fake_fruits_in_the_fruit_bowl/episode_7067ee1f-371a-4956-bf25-25522babd0f7/episode.fo.mcap", "tags": ["val"], "_media_type": "multimodal", "_rand": 0.9999003967841783, "split": "val", "task": "place_and_organize_the_fake_fruits_in_the_fruit_bowl", "episode_id": "episode_7067ee1f-371a-4956-bf25-25522babd0f7", "size_mb": 6.3, "station": "mono", "topics": ["/instruction", "/left-arm-action", "/left-arm-action.plot", "/left-arm-state", "/left-arm-state.plot", "/left-ee-action", "/left-ee-action.plot", "/left-ee-state", "/left-ee-state.plot", "/left-wrist-camera", "/left-wrist-camera-info", "/right-arm-action", "/right-arm-action.plot", "/right-arm-state", "/right-arm-state.plot", "/right-ee-action", "/right-ee-action.plot", "/right-ee-state", "/right-ee-state.plot", "/right-wrist-camera", "/right-wrist-camera-info", "/top-camera", "/top-camera-info"], "camera_topics": ["/left-wrist-camera", "/right-wrist-camera", "/top-camera"], "camera_codecs": {"/right-wrist-camera": "h264", "/left-wrist-camera": "h264", "/top-camera": "h264"}, "duration_s": 9.5, "n_messages": 3095, "source_fps": 29.6, "reencoded_to_30fps": false, "_dataset_id": {"$oid": "6a552eb8565b467d07a7c69e"}, "created_at": {"$date": "2026-07-13T18:30:46.251Z"}, "last_modified_at": {"$date": "2026-07-13T19:42:02.072Z"}, "plot_topics": ["/left-arm-action.plot", "/left-arm-state.plot", "/left-ee-action.plot", "/left-ee-state.plot", "/right-arm-action.plot", "/right-arm-state.plot", "/right-ee-action.plot", "/right-ee-state.plot"]}]}