| { | |
| "format": "Per-task sampling weights for combined LeRobot dataset. Index = local_task_id (0..K-1). Each preset sums to 1.0. openpi: per_frame_weight[chunk] = task_weight[chunk]/n_frames_in_task.", | |
| "task_order": [ | |
| { | |
| "local_task_id": 0, | |
| "name": "move_to_garage", | |
| "n_episodes": 590, | |
| "n_frames": 1409524 | |
| }, | |
| { | |
| "local_task_id": 1, | |
| "name": "move_to_fridge", | |
| "n_episodes": 380, | |
| "n_frames": 236932 | |
| }, | |
| { | |
| "local_task_id": 2, | |
| "name": "move_to_table_in_kitchen", | |
| "n_episodes": 184, | |
| "n_frames": 303486 | |
| }, | |
| { | |
| "local_task_id": 3, | |
| "name": "move_to_bookcase", | |
| "n_episodes": 977, | |
| "n_frames": 421440 | |
| }, | |
| { | |
| "local_task_id": 4, | |
| "name": "move_to_bathroom", | |
| "n_episodes": 381, | |
| "n_frames": 329921 | |
| }, | |
| { | |
| "local_task_id": 5, | |
| "name": "move_to_table_near_sofa", | |
| "n_episodes": 361, | |
| "n_frames": 327974 | |
| }, | |
| { | |
| "local_task_id": 6, | |
| "name": "move_to_corner_booth", | |
| "n_episodes": 216, | |
| "n_frames": 452626 | |
| }, | |
| { | |
| "local_task_id": 7, | |
| "name": "move_to_kitchen_sink", | |
| "n_episodes": 252, | |
| "n_frames": 296544 | |
| }, | |
| { | |
| "local_task_id": 8, | |
| "name": "move_to_bar", | |
| "n_episodes": 160, | |
| "n_frames": 170242 | |
| }, | |
| { | |
| "local_task_id": 9, | |
| "name": "move_to_oven", | |
| "n_episodes": 411, | |
| "n_frames": 242922 | |
| } | |
| ], | |
| "default_preset": "uniform_by_task", | |
| "presets": { | |
| "uniform_by_task": [ | |
| 0.1, | |
| 0.1, | |
| 0.1, | |
| 0.1, | |
| 0.1, | |
| 0.1, | |
| 0.1, | |
| 0.1, | |
| 0.1, | |
| 0.1 | |
| ], | |
| "prop_episodes": [ | |
| 0.150818, | |
| 0.097137, | |
| 0.047035, | |
| 0.249744, | |
| 0.097393, | |
| 0.09228, | |
| 0.055215, | |
| 0.064417, | |
| 0.0409, | |
| 0.105061 | |
| ], | |
| "prop_frames": [ | |
| 0.336273, | |
| 0.056525, | |
| 0.072403, | |
| 0.100544, | |
| 0.07871, | |
| 0.078245, | |
| 0.107984, | |
| 0.070747, | |
| 0.040615, | |
| 0.057954 | |
| ], | |
| "alpha_0.5_episodes": [ | |
| 0.127427, | |
| 0.102265, | |
| 0.071161, | |
| 0.163977, | |
| 0.1024, | |
| 0.099676, | |
| 0.077101, | |
| 0.083279, | |
| 0.066358, | |
| 0.106355 | |
| ] | |
| } | |
| } |