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Datasets:
XDUImageLab
/
SandGO

Tasks:
Robotics
Modalities:
Image
Languages:
English
Chinese
Tags:
robotics
long-horizon
multi-modal
License:
Dataset card Data Studio Files
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 Community
HQuanShaWu commited on
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  1. episodes/episode_000036/meta.json +21 -0
  2. episodes/episode_000036/meta_instructions.txt +9 -0
  3. episodes/episode_000039/meta.json +21 -0
  4. episodes/episode_000039/meta_instructions.txt +9 -0
  5. episodes/episode_000113/meta.json +16 -0
  6. episodes/episode_000113/meta_instructions.txt +4 -0
  7. episodes/episode_000125/meta.json +16 -0
  8. episodes/episode_000125/meta_instructions.txt +4 -0
  9. episodes/episode_000130/meta.json +20 -0
  10. episodes/episode_000130/meta_instructions.txt +8 -0
  11. episodes/episode_000155/depths/step_000001.npy +3 -0
  12. episodes/episode_000155/depths/step_000003.npy +3 -0
  13. episodes/episode_000155/depths/step_000005.npy +3 -0
  14. episodes/episode_000155/depths/step_000010.npy +3 -0
  15. episodes/episode_000155/depths/step_000016.npy +3 -0
  16. episodes/episode_000155/depths/step_000017.npy +3 -0
  17. episodes/episode_000155/depths/step_000019.npy +3 -0
  18. episodes/episode_000155/depths/step_000021.npy +3 -0
  19. episodes/episode_000155/depths/step_000024.npy +3 -0
  20. episodes/episode_000155/depths/step_000027.npy +3 -0
  21. episodes/episode_000155/depths/step_000028.npy +3 -0
  22. episodes/episode_000155/depths/step_000029.npy +3 -0
  23. episodes/episode_000155/depths/step_000030.npy +3 -0
  24. episodes/episode_000155/depths/step_000031.npy +3 -0
  25. episodes/episode_000155/depths/step_000034.npy +3 -0
  26. episodes/episode_000155/depths/step_000035.npy +3 -0
  27. episodes/episode_000155/depths/step_000036.npy +3 -0
  28. episodes/episode_000155/depths/step_000038.npy +3 -0
  29. episodes/episode_000155/depths/step_000042.npy +3 -0
  30. episodes/episode_000155/depths/step_000046.npy +3 -0
  31. episodes/episode_000155/depths/step_000052.npy +3 -0
  32. episodes/episode_000155/depths/step_000053.npy +3 -0
  33. episodes/episode_000155/depths/step_000054.npy +3 -0
  34. episodes/episode_000155/depths/step_000055.npy +3 -0
  35. episodes/episode_000155/depths/step_000058.npy +3 -0
  36. episodes/episode_000155/depths/step_000059.npy +3 -0
  37. episodes/episode_000155/depths/step_000060.npy +3 -0
  38. episodes/episode_000155/depths/step_000062.npy +3 -0
  39. episodes/episode_000155/depths/step_000063.npy +3 -0
  40. episodes/episode_000155/depths/step_000064.npy +3 -0
  41. episodes/episode_000155/depths/step_000065.npy +3 -0
  42. episodes/episode_000155/depths/step_000066.npy +3 -0
  43. episodes/episode_000155/depths/step_000067.npy +3 -0
  44. episodes/episode_000155/depths/step_000071.npy +3 -0
  45. episodes/episode_000155/depths/step_000072.npy +3 -0
  46. episodes/episode_000155/depths/step_000073.npy +3 -0
  47. episodes/episode_000155/depths/step_000075.npy +3 -0
  48. episodes/episode_000155/depths/step_000078.npy +3 -0
  49. episodes/episode_000155/depths/step_000079.npy +3 -0
  50. episodes/episode_000155/depths/step_000080.npy +3 -0
episodes/episode_000036/meta.json ADDED
@@ -0,0 +1,21 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task": "Cruise_B",
3
+ "original_episode": "episode_37",
4
+ "num_steps": 47,
5
+ "num_meta_actions": 9,
6
+ "state_dim": 15,
7
+ "action_dim": 15,
8
+ "num_points": 4096,
9
+ "instruction_format": "raw_text_per_meta",
10
+ "meta_actions": [
11
+ "1_move_forward",
12
+ "2_turn_left_360_degrees",
13
+ "3_cross_wood",
14
+ "4_move_forward",
15
+ "5_turn_left_90_degrees",
16
+ "6_move_forward",
17
+ "7_turn_left_90_degrees",
18
+ "8_move_forward",
19
+ "9_turn_left_90_degrees"
20
+ ]
21
+ }
episodes/episode_000036/meta_instructions.txt ADDED
@@ -0,0 +1,9 @@
 
 
 
 
 
 
 
 
 
 
1
+ Move to the front of the pile of woods and bricks, being careful not to hit the pile.
2
+ Rotate 360 degrees on the spot to the left and stay in place for about one second every 90 degrees
3
+ Cross around the pile of woods and bricks from left side, and be careful not to touch the sand pile during the process.
4
+ Move forward along the edge of the sandbox to the corner of the sandbox
5
+ Trun left 90 degrees on the spot
6
+ Move forward along the edge of the sandbox to the corner of the sandbox
7
+ Trun left 90 degrees on the spot
8
+ Move forward along the edge of the sandbox to the corner of the sandbox
9
+ Trun left 90 degrees on the spot
episodes/episode_000039/meta.json ADDED
@@ -0,0 +1,21 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ {
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+ "task": "Cruise_B",
3
+ "original_episode": "episode_40",
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+ "num_steps": 72,
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+ "num_meta_actions": 9,
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+ "state_dim": 15,
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+ "action_dim": 15,
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+ "num_points": 4096,
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+ "instruction_format": "raw_text_per_meta",
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+ "meta_actions": [
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+ "1_move_forward",
12
+ "2_turn_left_90_degrees",
13
+ "3_move_forward",
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+ "4_turn_left_360_degrees",
15
+ "5_cross_wood",
16
+ "6_move_forward",
17
+ "7_turn_left_90_degrees",
18
+ "8_move_forward",
19
+ "9_turn_left_90_degrees"
20
+ ]
21
+ }
episodes/episode_000039/meta_instructions.txt ADDED
@@ -0,0 +1,9 @@
 
 
 
 
 
 
 
 
 
 
1
+ Move forward along the edge of the sandbox to the corner of the sandbox
2
+ Trun left 90 degrees on the spot
3
+ Move to the front of the pile of woods and bricks, being careful not to hit the pile.
4
+ Rotate 360 degrees on the spot to the left and stay in place for about one second every 90 degrees
5
+ Cross around the pile of woods and bricks from the right, and be careful not to touch the sand pile during the process
6
+ Move forward along the edge of the sandbox to the corner of the sandbox
7
+ Trun left 90 degrees on the spot
8
+ Move forward along the edge of the sandbox to the corner of the sandbox
9
+ Trun left 90 degrees on the spot
episodes/episode_000113/meta.json ADDED
@@ -0,0 +1,16 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ {
2
+ "task": "sample",
3
+ "original_episode": "episode_59",
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+ "num_steps": 259,
5
+ "num_meta_actions": 4,
6
+ "state_dim": 15,
7
+ "action_dim": 15,
8
+ "num_points": 4096,
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+ "instruction_format": "raw_text_per_meta",
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+ "meta_actions": [
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+ "1_move_forward",
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+ "2_grasp_bottle",
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+ "3_move_to_container",
14
+ "4_place_bottle_to_container"
15
+ ]
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+ }
episodes/episode_000113/meta_instructions.txt ADDED
@@ -0,0 +1,4 @@
 
 
 
 
 
1
+ Move straight to the front of the sampling point located on the flat mound at the center of the sandbox, taking care not to bump into any obstacles.
2
+ Grasp the bottle located at the flat hill. Then lift the bottle. Be careful not to grip too tightly or too loosely.
3
+ Walk backward from the sampling point, then turn right in place, go around the flat mound of dirt, then turn left until the container is detected, then move to the container where the sample was placed.
4
+ Place the bottle into the container, being careful not to put it in too fast or too slow.
episodes/episode_000125/meta.json ADDED
@@ -0,0 +1,16 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ {
2
+ "task": "sample",
3
+ "original_episode": "episode_79",
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+ "num_steps": 313,
5
+ "num_meta_actions": 4,
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+ "state_dim": 15,
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+ "action_dim": 15,
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+ "num_points": 4096,
9
+ "instruction_format": "raw_text_per_meta",
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+ "meta_actions": [
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+ "1_move_forward",
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+ "2_grasp_branch",
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+ "3_search_for_and_move_to_pink_container",
14
+ "4_place_branch_to_pink_container"
15
+ ]
16
+ }
episodes/episode_000125/meta_instructions.txt ADDED
@@ -0,0 +1,4 @@
 
 
 
 
 
1
+ Move straight to the front of the sampling point located on the flat mound at the center of the sandbox, taking care not to bump into any obstacles.
2
+ Grasp the branch located at the flat hill. Then lift the branch. Be careful not to grip too tightly or too loosely.
3
+ Turn left in place, go around the flat mound of sand until the pink container is detected, then move to the pink container.
4
+ Place the branch into the pink container and retract arm, being careful not to put it in too fast or too slow.
episodes/episode_000130/meta.json ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task": "sample",
3
+ "original_episode": "episode_83",
4
+ "num_steps": 469,
5
+ "num_meta_actions": 8,
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+ "state_dim": 15,
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+ "action_dim": 15,
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+ "num_points": 4096,
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+ "instruction_format": "raw_text_per_meta",
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+ "meta_actions": [
11
+ "1_move_forward",
12
+ "2_grasp_wood",
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+ "3_search_for_and_move_to_cyan_container",
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+ "4_place_wood_to_cyan_container",
15
+ "5_move_to_sampling_point",
16
+ "6_grasp_branch",
17
+ "7_search_for_and_move_to_pink_container",
18
+ "8_place_branch_to_pink_container"
19
+ ]
20
+ }
episodes/episode_000130/meta_instructions.txt ADDED
@@ -0,0 +1,8 @@
 
 
 
 
 
 
 
 
 
1
+ Move straight to the front of the sampling point located on the flat mound at the center of the sandbox, taking care not to bump into any obstacles.
2
+ Grasp the wooden block located at the flat hill. Then lift the wooden block. Be careful not to grip too tightly or too loosely.
3
+ Turn left in place, go around the flat mound of sand until the cyan container is detected, then move to the cyan container.
4
+ Place the wooden block into the cyan container and retract arm, being careful not to put it in too fast or too slow.
5
+ Turn right in place until the sampling point is detected, then move to the sampling point where the branch was placed.
6
+ Grasp the branch located at the flat hill. Then lift the branch. Be careful not to grip too tightly or too loosely.
7
+ Turn right in place, go around the flat mound of sand until the pink container is detected, then move to the pink container.
8
+ Place the branch into the pink container and retract arm, being careful not to put it in too fast or too slow.
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