Hugging Face's logo

Datasets:
lerobot
/
behavior1k-task0023

Dataset card Files
xet
Community
behavior1k-task0023 / annotations /episode_00000042.json
jadechoghari's picture
jadechoghari HF Staff
Add files using upload-large-folder tool
f28bd47 verified
raw
history blame contribute delete
26.3 kB
 {
"task_name": "boxing books up for storage",
"data_folder": "",
"meta_data": {
"task_duration": 27546,
"valid_duration": [
0,
27546
]
},
"skill_annotation": [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"storage_box_49"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
0,
661
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 1,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"storage_box_49",
"floors_rfqizg_0"
]
],
"manipulating_object_id": [
"storage_box_49"
],
"spatial_prefix": [],
"frame_duration": [
662,
1375
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 2,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"sofa_ukfaaz_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
1376,
3761
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 3,
"skill_id": [
3
],
"skill_description": [
"place on"
],
"object_id": [
[
"storage_box_49",
"sofa_ukfaaz_0"
]
],
"manipulating_object_id": [
"storage_box_49"
],
"spatial_prefix": [],
"frame_duration": [
3762,
4458
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 4,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"hardback_51"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
4458,
6126
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 5,
"skill_id": [
90
],
"skill_description": [
"push to"
],
"object_id": [
[
"hardback_51",
"bookcase_otwukr_0"
]
],
"manipulating_object_id": [
"hardback_51"
],
"spatial_prefix": [
[
"",
"to_the_edge_of"
]
],
"frame_duration": [
6126,
7384
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 6,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"hardback_51",
"bookcase_otwukr_0"
]
],
"manipulating_object_id": [
"hardback_51"
],
"spatial_prefix": [
[
"",
"2X1"
]
],
"frame_duration": [
7384,
7837
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 7,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"hardback_55"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
7837,
7982
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 8,
"skill_id": [
90
],
"skill_description": [
"push to"
],
"object_id": [
[
"hardback_55",
"bookcase_otwukr_3"
]
],
"manipulating_object_id": [
"hardback_55"
],
"spatial_prefix": [
[
"",
"to_the_edge_of"
]
],
"frame_duration": [
7982,
8934
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 9,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"hardback_55",
"bookcase_otwukr_3"
]
],
"manipulating_object_id": [
"hardback_55"
],
"spatial_prefix": [
[
"",
"2X2"
]
],
"frame_duration": [
8934,
9485
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 10,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"storage_box_49"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
9486,
11503
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 11,
"skill_id": [
4
],
"skill_description": [
"place in"
],
"object_id": [
[
"hardback_51",
"storage_box_49"
]
],
"manipulating_object_id": [
"hardback_51"
],
"spatial_prefix": [],
"frame_duration": [
11503,
11842
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 12,
"skill_id": [
4
],
"skill_description": [
"place in"
],
"object_id": [
[
"hardback_55",
"storage_box_49"
]
],
"manipulating_object_id": [
"hardback_55"
],
"spatial_prefix": [],
"frame_duration": [
11843,
12584
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 13,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"hardback_53"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
12584,
14193
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 14,
"skill_id": [
90
],
"skill_description": [
"push to"
],
"object_id": [
[
"hardback_53",
"bookcase_otwukr_1"
]
],
"manipulating_object_id": [
"hardback_53"
],
"spatial_prefix": [
[
"",
"to_the_edge_of"
]
],
"frame_duration": [
14194,
15047
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 15,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"hardback_53",
"bookcase_otwukr_1"
]
],
"manipulating_object_id": [
"hardback_53"
],
"spatial_prefix": [
[
"",
"2X1"
]
],
"frame_duration": [
15047,
15570
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 16,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"hardback_50"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
15570,
15639
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 17,
"skill_id": [
90
],
"skill_description": [
"push to"
],
"object_id": [
[
"hardback_50",
"bookcase_otwukr_2"
]
],
"manipulating_object_id": [
"hardback_50"
],
"spatial_prefix": [
[
"",
"to_the_edge_of"
]
],
"frame_duration": [
15639,
16311
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 18,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"hardback_50",
"bookcase_otwukr_2"
]
],
"manipulating_object_id": [
"hardback_50"
],
"spatial_prefix": [
[
"",
"2X1"
]
],
"frame_duration": [
16311,
16827
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 19,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"storage_box_49"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
16827,
18870
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 20,
"skill_id": [
4
],
"skill_description": [
"place in"
],
"object_id": [
[
"hardback_53",
"storage_box_49"
]
],
"manipulating_object_id": [
"hardback_53"
],
"spatial_prefix": [],
"frame_duration": [
18870,
19463
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 21,
"skill_id": [
4
],
"skill_description": [
"place in"
],
"object_id": [
[
"hardback_50",
"storage_box_49"
]
],
"manipulating_object_id": [
"hardback_50"
],
"spatial_prefix": [],
"frame_duration": [
19463,
20115
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 22,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"hardback_54"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
20115,
21526
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 23,
"skill_id": [
90
],
"skill_description": [
"push to"
],
"object_id": [
[
"hardback_54",
"bookcase_otwukr_3"
]
],
"manipulating_object_id": [
"hardback_54"
],
"spatial_prefix": [
[
"",
"to_the_edge_of"
]
],
"frame_duration": [
21526,
22484
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 24,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"hardback_54",
"bookcase_otwukr_3"
]
],
"manipulating_object_id": [
"hardback_54"
],
"spatial_prefix": [
[
"",
"3X1"
]
],
"frame_duration": [
22484,
22936
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 25,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"hardback_52"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
22937,
23093
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 26,
"skill_id": [
90
],
"skill_description": [
"push to"
],
"object_id": [
[
"hardback_52",
"bookcase_otwukr_1"
]
],
"manipulating_object_id": [
"hardback_52"
],
"spatial_prefix": [
[
"",
"to_the_edge_of"
]
],
"frame_duration": [
23094,
23964
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 27,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"hardback_52",
"bookcase_otwukr_1"
]
],
"manipulating_object_id": [
"hardback_52"
],
"spatial_prefix": [
[
"",
"3X1"
]
],
"frame_duration": [
23964,
24567
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 28,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"storage_box_49"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
24568,
26370
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 29,
"skill_id": [
4
],
"skill_description": [
"place in"
],
"object_id": [
[
"hardback_54",
"storage_box_49"
]
],
"manipulating_object_id": [
"hardback_54"
],
"spatial_prefix": [],
"frame_duration": [
26370,
26880
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 30,
"skill_id": [
4
],
"skill_description": [
"place in"
],
"object_id": [
[
"hardback_52",
"storage_box_49"
]
],
"manipulating_object_id": [
"hardback_52"
],
"spatial_prefix": [],
"frame_duration": [
26880,
27546
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
}
],
"primitive_annotation": [
{
"primitive_idx": 0,
"primitive_id": [
2,
3
],
"primitive_description": [
"pick up from",
"place on"
],
"object_id": [
[
"storage_box_49",
"floors_rfqizg_0"
],
[
"storage_box_49",
"sofa_ukfaaz_0"
]
],
"manipulating_object_id": [
"storage_box_49",
"storage_box_49"
],
"spatial_prefix": [],
"frame_duration": [
0,
4458
],
"skill_idxes": [
0,
1,
2,
3
]
},
{
"primitive_idx": 1,
"primitive_id": [
2,
4
],
"primitive_description": [
"pick up from",
"place in"
],
"object_id": [
[
[
"hardback_51",
"hardback_55"
],
[
"bookcase_otwukr_0",
"bookcase_otwukr_3"
]
],
[
[
"hardback_51",
"hardback_55"
],
"storage_box_49"
]
],
"manipulating_object_id": [
[
"hardback_51",
"hardback_55"
],
[
"hardback_51",
"hardback_55"
]
],
"spatial_prefix": [
[
[],
[
"2X1",
"2X2"
]
],
[]
],
"frame_duration": [
4458,
12584
],
"skill_idxes": [
4,
5,
6,
7,
8,
9,
10,
11,
12
]
},
{
"primitive_idx": 2,
"primitive_id": [
2,
4
],
"primitive_description": [
"pick up from",
"place in"
],
"object_id": [
[
[
"hardback_53",
"hardback_50"
],
[
"bookcase_otwukr_1",
"bookcase_otwukr_2"
]
],
[
[
"hardback_53",
"hardback_50"
],
"storage_box_49"
]
],
"manipulating_object_id": [
[
"hardback_53",
"hardback_50"
],
[
"hardback_53",
"hardback_50"
]
],
"spatial_prefix": [
[
[],
[
"2X1",
"2X1"
]
],
[]
],
"frame_duration": [
12584,
20115
],
"skill_idxes": [
13,
14,
15,
16,
17,
18,
19,
20,
21
]
},
{
"primitive_idx": 3,
"primitive_id": [
2,
4
],
"primitive_description": [
"pick up from",
"place in"
],
"object_id": [
[
[
"hardback_54",
"hardback_52"
],
[
"bookcase_otwukr_3",
"bookcase_otwukr_1"
]
],
[
[
"hardback_54",
"hardback_52"
],
"storage_box_49"
]
],
"manipulating_object_id": [
[
"hardback_54",
"hardback_52"
],
[
"hardback_54",
"hardback_52"
]
],
"spatial_prefix": [
[
[],
[
"3X1",
"3X1"
]
],
[]
],
"frame_duration": [
20115,
27546
],
"skill_idxes": [
22,
23,
24,
25,
26,
27,
28,
29,
30
]
}
]
}