Hugging Face's logo

Datasets:
lerobot
/
behavior1k-task0027

Dataset card Files
xet
Community
behavior1k-task0027 / annotations /episode_00000016.json
jadechoghari's picture
jadechoghari HF Staff
Add files using upload-large-folder tool
0caa01b verified
raw
history blame contribute delete
21.2 kB
 {
"task_name": "sorting household items",
"data_folder": "",
"meta_data": {
"task_duration": 17730,
"valid_duration": [
0,
17730
]
},
"skill_annotation": [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"hamper_225"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
0,
912
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 1,
"skill_id": [
90
],
"skill_description": [
"push to"
],
"object_id": [
[
"hamper_225",
"robot"
]
],
"manipulating_object_id": [
"hamper_225"
],
"spatial_prefix": [
[
"",
"near"
]
],
"frame_duration": [
912,
2185
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 2,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"sliding_door_tprpvb_10"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
2186,
3361
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 3,
"skill_id": [
10
],
"skill_description": [
"open door"
],
"object_id": [
[
"sliding_door_tprpvb_10"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
3361,
4896
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 4,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"bottle_of_detergent_227"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
4896,
5933
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 5,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"bottle_of_detergent_227",
"hamper_226"
]
],
"manipulating_object_id": [
"bottle_of_detergent_227"
],
"spatial_prefix": [],
"frame_duration": [
5934,
6312
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 6,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"bottle_of_detergent_228"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
6312,
6586
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 7,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"bottle_of_detergent_228",
"hamper_226"
]
],
"manipulating_object_id": [
"bottle_of_detergent_228"
],
"spatial_prefix": [],
"frame_duration": [
6587,
6933
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 8,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"multi_station_furniture_sink_upwldu_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
6933,
7773
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 9,
"skill_id": [
98
],
"skill_description": [
"place under"
],
"object_id": [
[
"bottle_of_detergent_227",
"multi_station_furniture_sink_upwldu_0"
]
],
"manipulating_object_id": [
"bottle_of_detergent_227"
],
"spatial_prefix": [],
"frame_duration": [
7773,
8445
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 10,
"skill_id": [
98
],
"skill_description": [
"place under"
],
"object_id": [
[
"bottle_of_detergent_228",
"multi_station_furniture_sink_upwldu_0"
]
],
"manipulating_object_id": [
"bottle_of_detergent_228"
],
"spatial_prefix": [],
"frame_duration": [
8446,
8918
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 11,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"box_of_sanitary_napkins_224"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
8918,
9962
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 12,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"box_of_sanitary_napkins_224",
"hamper_226"
]
],
"manipulating_object_id": [
"box_of_sanitary_napkins_224"
],
"spatial_prefix": [],
"frame_duration": [
9962,
10579
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 13,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"soap_dispenser_223"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
10579,
10824
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 14,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"soap_dispenser_223",
"hamper_225"
]
],
"manipulating_object_id": [
"soap_dispenser_223"
],
"spatial_prefix": [],
"frame_duration": [
10824,
11383
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 15,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"multi_station_furniture_sink_upwldu_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
11384,
12530
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 16,
"skill_id": [
3
],
"skill_description": [
"place on"
],
"object_id": [
[
"soap_dispenser_223",
"multi_station_furniture_sink_upwldu_0"
]
],
"manipulating_object_id": [
"soap_dispenser_223"
],
"spatial_prefix": [],
"frame_duration": [
12530,
12902
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 17,
"skill_id": [
3
],
"skill_description": [
"place on"
],
"object_id": [
[
"box_of_sanitary_napkins_224",
"shelf_fjozhc_0"
]
],
"manipulating_object_id": [
"box_of_sanitary_napkins_224"
],
"spatial_prefix": [],
"frame_duration": [
12903,
13322
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 18,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"toothbrush_221"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
13322,
14127
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 19,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"toothbrush_221",
"hamper_225"
]
],
"manipulating_object_id": [
"toothbrush_221"
],
"spatial_prefix": [],
"frame_duration": [
14127,
14743
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 20,
"skill_id": [
90
],
"skill_description": [
"push to"
],
"object_id": [
[
"hamper_225",
"robot"
]
],
"manipulating_object_id": [
"hamper_225"
],
"spatial_prefix": [
[
"",
"away"
]
],
"frame_duration": [
14743,
14933
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 21,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"tube_of_toothpaste_222",
"hamper_225"
]
],
"manipulating_object_id": [
"tube_of_toothpaste_222"
],
"spatial_prefix": [],
"frame_duration": [
14933,
15443
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 22,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"coffee_cup_220"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
15443,
16538
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 23,
"skill_id": [
4
],
"skill_description": [
"place in"
],
"object_id": [
[
"toothbrush_221",
"coffee_cup_220"
]
],
"manipulating_object_id": [
"toothbrush_221"
],
"spatial_prefix": [],
"frame_duration": [
16538,
17086
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 24,
"skill_id": [
4
],
"skill_description": [
"place in"
],
"object_id": [
[
"tube_of_toothpaste_222",
"coffee_cup_220"
]
],
"manipulating_object_id": [
"tube_of_toothpaste_222"
],
"spatial_prefix": [],
"frame_duration": [
17086,
17730
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
}
],
"primitive_annotation": [
{
"primitive_idx": 0,
"primitive_id": [
10
],
"primitive_description": [
"open door"
],
"object_id": [
[
"sliding_door_tprpvb_10"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
0,
4896
],
"skill_idxes": [
0,
1,
2,
3
]
},
{
"primitive_idx": 1,
"primitive_id": [
2,
98
],
"primitive_description": [
"pick up from",
"place under"
],
"object_id": [
[
[
"bottle_of_detergent_227",
"bottle_of_detergent_228"
],
"hamper_226"
],
[
[
"bottle_of_detergent_227",
"bottle_of_detergent_228"
],
"multi_station_furniture_sink_upwldu_0"
]
],
"manipulating_object_id": [
[
"bottle_of_detergent_227",
"bottle_of_detergent_228"
],
[
"bottle_of_detergent_227",
"bottle_of_detergent_228"
]
],
"spatial_prefix": [],
"frame_duration": [
4896,
8918
],
"skill_idxes": [
4,
5,
6,
7,
8,
9,
10
]
},
{
"primitive_idx": 2,
"primitive_id": [
2,
3
],
"primitive_description": [
"pick up from",
"place on"
],
"object_id": [
[
"box_of_sanitary_napkins_224",
"hamper_226"
],
[
"box_of_sanitary_napkins_224",
"shelf_fjozhc_0"
]
],
"manipulating_object_id": [
"box_of_sanitary_napkins_224",
"box_of_sanitary_napkins_224"
],
"spatial_prefix": [],
"frame_duration": [
8918,
13322
],
"skill_idxes": [
11,
12,
15,
17
]
},
{
"primitive_idx": 3,
"primitive_id": [
2,
3
],
"primitive_description": [
"pick up from",
"place on"
],
"object_id": [
[
"soap_dispenser_223",
"hamper_225"
],
[
"soap_dispenser_223",
"multi_station_furniture_sink_upwldu_0"
]
],
"manipulating_object_id": [
"soap_dispenser_223",
"soap_dispenser_223"
],
"spatial_prefix": [],
"frame_duration": [
10579,
12902
],
"skill_idxes": [
13,
14,
15,
16
]
},
{
"primitive_idx": 4,
"primitive_id": [
2,
4
],
"primitive_description": [
"pick up from",
"place in"
],
"object_id": [
[
[
"toothbrush_221",
"tube_of_toothpaste_222"
],
"hamper_225"
],
[
[
"toothbrush_221",
"tube_of_toothpaste_222"
],
"coffee_cup_220"
]
],
"manipulating_object_id": [
[
"toothbrush_221",
"tube_of_toothpaste_222"
],
[
"toothbrush_221",
"tube_of_toothpaste_222"
]
],
"spatial_prefix": [],
"frame_duration": [
13322,
17730
],
"skill_idxes": [
18,
19,
20,
21,
22,
23,
24
]
}
]
}