Hugging Face's logo

Datasets:
lerobot
/
behavior1k-task0036

Dataset card Files
xet
Community
behavior1k-task0036 / annotations /episode_00000022.json
jadechoghari's picture
jadechoghari HF Staff
Add files using upload-large-folder tool
7d89c7a verified
raw
history blame contribute delete
41.3 kB
 {
"task_name": "clean a patio",
"data_folder": "",
"meta_data": {
"task_duration": 10884,
"valid_duration": [
3,
10887
]
},
"skill_annotation": [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"broom_172"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
3,
36
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 1,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"broom_172",
"floors_ghetev_0"
]
],
"manipulating_object_id": [
"broom_172"
],
"spatial_prefix": [],
"frame_duration": [
36,
903
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 2,
"skill_id": [
94
],
"skill_description": [
"hold"
],
"object_id": [
[
"broom_172"
]
],
"manipulating_object_id": [
"broom_172"
],
"spatial_prefix": [],
"frame_duration": [
903,
1071
],
"mp_ef": [],
"skill_type": [
"coordinated"
]
},
{
"skill_idx": 3,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"mud"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
1071,
1770
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 4,
"skill_id": [
50
],
"skill_description": [
"sweep surface"
],
"object_id": [
[
"broom_172",
"floors_ghetev_0"
]
],
"manipulating_object_id": [
"broom_172"
],
"spatial_prefix": [],
"frame_duration": [
1770,
1861
],
"mp_ef": [],
"skill_type": [
"coordinated"
]
},
{
"skill_idx": 5,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"mud"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
1861,
2014
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 6,
"skill_id": [
50
],
"skill_description": [
"sweep surface"
],
"object_id": [
[
"broom_172",
"floors_ghetev_0"
]
],
"manipulating_object_id": [
"broom_172"
],
"spatial_prefix": [],
"frame_duration": [
2014,
2074
],
"mp_ef": [],
"skill_type": [
"coordinated"
]
},
{
"skill_idx": 7,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"garden_chair_lraplz_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
[
2074,
2667
],
[
2760,
2781
]
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 8,
"skill_id": [
8
],
"skill_description": [
"release"
],
"object_id": [
[
"broom_172"
]
],
"manipulating_object_id": [
"broom_172"
],
"spatial_prefix": [],
"frame_duration": [
2667,
2760
],
"mp_ef": [],
"skill_type": [
"coordinated"
]
},
{
"skill_idx": 9,
"skill_id": [
90
],
"skill_description": [
"push to"
],
"object_id": [
[
"garden_chair_lraplz_0",
"robot"
]
],
"manipulating_object_id": [
"garden_chair_lraplz_0"
],
"spatial_prefix": [
[
"",
"away"
]
],
"frame_duration": [
2781,
2940
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 10,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"mud"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
[
2940,
2967
],
[
3079,
3108
]
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 11,
"skill_id": [
94
],
"skill_description": [
"hold"
],
"object_id": [
[
"broom_172"
]
],
"manipulating_object_id": [
"broom_172"
],
"spatial_prefix": [],
"frame_duration": [
2967,
3079
],
"mp_ef": [],
"skill_type": [
"coordinated"
]
},
{
"skill_idx": 12,
"skill_id": [
50
],
"skill_description": [
"sweep surface"
],
"object_id": [
[
"broom_172",
"floors_ghetev_0"
]
],
"manipulating_object_id": [
"broom_172"
],
"spatial_prefix": [],
"frame_duration": [
3108,
3144
],
"mp_ef": [],
"skill_type": [
"coordinated"
]
},
{
"skill_idx": 13,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"mud"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
3144,
3687
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 14,
"skill_id": [
50
],
"skill_description": [
"sweep surface"
],
"object_id": [
[
"broom_172",
"floors_ghetev_0"
]
],
"manipulating_object_id": [
"broom_172"
],
"spatial_prefix": [],
"frame_duration": [
3687,
3831
],
"mp_ef": [],
"skill_type": [
"coordinated"
]
},
{
"skill_idx": 15,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"garden_chair_cottya_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
3831,
4062
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 16,
"skill_id": [
8
],
"skill_description": [
"release"
],
"object_id": [
[
"broom_172"
]
],
"manipulating_object_id": [
"broom_172"
],
"spatial_prefix": [],
"frame_duration": [
4062,
4116
],
"mp_ef": [],
"skill_type": [
"coordinated"
]
},
{
"skill_idx": 17,
"skill_id": [
90
],
"skill_description": [
"push to"
],
"object_id": [
[
"garden_chair_cottya_0",
"robot"
]
],
"manipulating_object_id": [
"garden_chair_cottya_0"
],
"spatial_prefix": [
[
"",
"away"
]
],
"frame_duration": [
4116,
4417
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 18,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"mud"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
[
4417,
4486
],
[
4599,
4677
]
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 19,
"skill_id": [
94
],
"skill_description": [
"hold"
],
"object_id": [
[
"broom_172"
]
],
"manipulating_object_id": [
"broom_172"
],
"spatial_prefix": [],
"frame_duration": [
4486,
4599
],
"mp_ef": [],
"skill_type": [
"coordinated"
]
},
{
"skill_idx": 20,
"skill_id": [
50
],
"skill_description": [
"sweep surface"
],
"object_id": [
[
"broom_172",
"floors_ghetev_0"
]
],
"manipulating_object_id": [
"broom_172"
],
"spatial_prefix": [],
"frame_duration": [
4677,
4749
],
"mp_ef": [],
"skill_type": [
"coordinated"
]
},
{
"skill_idx": 21,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"mud"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
4749,
4980
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 22,
"skill_id": [
50
],
"skill_description": [
"sweep surface"
],
"object_id": [
[
"broom_172",
"floors_ghetev_0"
]
],
"manipulating_object_id": [
"broom_172"
],
"spatial_prefix": [],
"frame_duration": [
4980,
5023
],
"mp_ef": [],
"skill_type": [
"coordinated"
]
},
{
"skill_idx": 23,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"mud"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
5023,
5226
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 24,
"skill_id": [
50
],
"skill_description": [
"sweep surface"
],
"object_id": [
[
"broom_172",
"floors_ghetev_0"
]
],
"manipulating_object_id": [
"broom_172"
],
"spatial_prefix": [],
"frame_duration": [
5226,
5436
],
"mp_ef": [],
"skill_type": [
"coordinated"
]
},
{
"skill_idx": 25,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"mud"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
5436,
5844
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 26,
"skill_id": [
50
],
"skill_description": [
"sweep surface"
],
"object_id": [
[
"broom_172",
"floors_ghetev_0"
]
],
"manipulating_object_id": [
"broom_172"
],
"spatial_prefix": [],
"frame_duration": [
5844,
5889
],
"mp_ef": [],
"skill_type": [
"coordinated"
]
},
{
"skill_idx": 27,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"mud"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
5889,
6138
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 28,
"skill_id": [
50
],
"skill_description": [
"sweep surface"
],
"object_id": [
[
"broom_172",
"floors_ghetev_0"
]
],
"manipulating_object_id": [
"broom_172"
],
"spatial_prefix": [],
"frame_duration": [
6138,
6186
],
"mp_ef": [],
"skill_type": [
"coordinated"
]
},
{
"skill_idx": 29,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"mud"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
6186,
6453
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 30,
"skill_id": [
50
],
"skill_description": [
"sweep surface"
],
"object_id": [
[
"broom_172",
"floors_ghetev_0"
]
],
"manipulating_object_id": [
"broom_172"
],
"spatial_prefix": [],
"frame_duration": [
6453,
6666
],
"mp_ef": [],
"skill_type": [
"coordinated"
]
},
{
"skill_idx": 31,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"mud"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
6666,
6687
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 32,
"skill_id": [
50
],
"skill_description": [
"sweep surface"
],
"object_id": [
[
"broom_172",
"floors_ghetev_0"
]
],
"manipulating_object_id": [
"broom_172"
],
"spatial_prefix": [],
"frame_duration": [
6687,
6724
],
"mp_ef": [],
"skill_type": [
"coordinated"
]
},
{
"skill_idx": 33,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"garden_chair_cottya_2"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
[
6724,
6880
],
[
7017,
7059
]
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 34,
"skill_id": [
8
],
"skill_description": [
"release"
],
"object_id": [
[
"broom_172"
]
],
"manipulating_object_id": [
"broom_172"
],
"spatial_prefix": [],
"frame_duration": [
6880,
7017
],
"mp_ef": [],
"skill_type": [
"coordinated"
]
},
{
"skill_idx": 35,
"skill_id": [
90
],
"skill_description": [
"push to"
],
"object_id": [
[
"garden_chair_cottya_2",
"robot"
]
],
"manipulating_object_id": [
"garden_chair_cottya_2"
],
"spatial_prefix": [
[
"",
"away"
]
],
"frame_duration": [
7059,
7290
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 36,
"skill_id": [
94
],
"skill_description": [
"hold"
],
"object_id": [
[
"broom_172"
]
],
"manipulating_object_id": [
"broom_172"
],
"spatial_prefix": [],
"frame_duration": [
7290,
7449
],
"mp_ef": [],
"skill_type": [
"coordinated"
]
},
{
"skill_idx": 37,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"mud"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
7449,
7509
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 38,
"skill_id": [
50
],
"skill_description": [
"sweep surface"
],
"object_id": [
[
"broom_172",
"floors_ghetev_0"
]
],
"manipulating_object_id": [
"broom_172"
],
"spatial_prefix": [],
"frame_duration": [
7509,
7575
],
"mp_ef": [],
"skill_type": [
"coordinated"
]
},
{
"skill_idx": 39,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"mud"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
7575,
8434
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 40,
"skill_id": [
50
],
"skill_description": [
"sweep surface"
],
"object_id": [
[
"broom_172",
"floors_ghetev_0"
]
],
"manipulating_object_id": [
"broom_172"
],
"spatial_prefix": [],
"frame_duration": [
8434,
8535
],
"mp_ef": [],
"skill_type": [
"coordinated"
]
},
{
"skill_idx": 41,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"mud"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
8535,
8563
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 42,
"skill_id": [
50
],
"skill_description": [
"sweep surface"
],
"object_id": [
[
"broom_172",
"floors_ghetev_0"
]
],
"manipulating_object_id": [
"broom_172"
],
"spatial_prefix": [],
"frame_duration": [
8563,
8617
],
"mp_ef": [],
"skill_type": [
"coordinated"
]
},
{
"skill_idx": 43,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"mud"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
8617,
9094
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 44,
"skill_id": [
50
],
"skill_description": [
"sweep surface"
],
"object_id": [
[
"broom_172",
"floors_ghetev_0"
]
],
"manipulating_object_id": [
"broom_172"
],
"spatial_prefix": [],
"frame_duration": [
9094,
9163
],
"mp_ef": [],
"skill_type": [
"coordinated"
]
},
{
"skill_idx": 45,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"mud"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
9163,
9349
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 46,
"skill_id": [
50
],
"skill_description": [
"sweep surface"
],
"object_id": [
[
"broom_172",
"floors_ghetev_0"
]
],
"manipulating_object_id": [
"broom_172"
],
"spatial_prefix": [],
"frame_duration": [
9349,
9436
],
"mp_ef": [],
"skill_type": [
"coordinated"
]
},
{
"skill_idx": 47,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"mud"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
9436,
9787
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 48,
"skill_id": [
50
],
"skill_description": [
"sweep surface"
],
"object_id": [
[
"broom_172",
"floors_ghetev_0"
]
],
"manipulating_object_id": [
"broom_172"
],
"spatial_prefix": [],
"frame_duration": [
9787,
9870
],
"mp_ef": [],
"skill_type": [
"coordinated"
]
},
{
"skill_idx": 49,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"mud"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
9870,
10030
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 50,
"skill_id": [
50
],
"skill_description": [
"sweep surface"
],
"object_id": [
[
"broom_172",
"floors_ghetev_0"
]
],
"manipulating_object_id": [
"broom_172"
],
"spatial_prefix": [],
"frame_duration": [
10030,
10132
],
"mp_ef": [],
"skill_type": [
"coordinated"
]
},
{
"skill_idx": 51,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"mud"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
10132,
10289
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 52,
"skill_id": [
50
],
"skill_description": [
"sweep surface"
],
"object_id": [
[
"broom_172",
"floors_ghetev_0"
]
],
"manipulating_object_id": [
"broom_172"
],
"spatial_prefix": [],
"frame_duration": [
10289,
10390
],
"mp_ef": [],
"skill_type": [
"coordinated"
]
},
{
"skill_idx": 53,
"skill_id": [
8
],
"skill_description": [
"release"
],
"object_id": [
[
"broom_172"
]
],
"manipulating_object_id": [
"broom_172"
],
"spatial_prefix": [],
"frame_duration": [
10390,
10450
],
"mp_ef": [],
"skill_type": [
"coordinated"
]
},
{
"skill_idx": 54,
"skill_id": [
3
],
"skill_description": [
"place on"
],
"object_id": [
[
"broom_172",
"floors_ghetev_0"
]
],
"manipulating_object_id": [
"broom_172"
],
"spatial_prefix": [],
"frame_duration": [
10450,
10887
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
}
],
"primitive_annotation": [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"broom_172",
"floors_ghetev_0"
]
],
"manipulating_object_id": [
"broom_172"
],
"spatial_prefix": [],
"frame_duration": [
3,
1071
],
"skill_idxes": [
0,
1,
2
]
},
{
"primitive_idx": 1,
"primitive_id": [
50
],
"primitive_description": [
"sweep surface"
],
"object_id": [
[
"broom_172",
"floors_ghetev_0"
]
],
"manipulating_object_id": [
"broom_172"
],
"spatial_prefix": [],
"frame_duration": [
1071,
2074
],
"skill_idxes": [
3,
4,
5,
6
]
},
{
"primitive_idx": 2,
"primitive_id": [
90
],
"primitive_description": [
"push to"
],
"object_id": [
[
"garden_chair_lraplz_0",
"robot"
]
],
"manipulating_object_id": [
"garden_chair_lraplz_0"
],
"spatial_prefix": [
[
[],
[
"away"
]
]
],
"frame_duration": [
[
2074,
2667
],
2940
],
"skill_idxes": [
7,
8,
9
]
},
{
"primitive_idx": 3,
"primitive_id": [
50
],
"primitive_description": [
"sweep surface"
],
"object_id": [
[
"broom_172",
"floors_ghetev_0"
]
],
"manipulating_object_id": [
"broom_172"
],
"spatial_prefix": [],
"frame_duration": [
[
2940,
2967
],
3831
],
"skill_idxes": [
10,
11,
12,
13,
14
]
},
{
"primitive_idx": 4,
"primitive_id": [
90
],
"primitive_description": [
"push to"
],
"object_id": [
[
"garden_chair_cottya_0",
"robot"
]
],
"manipulating_object_id": [
"garden_chair_cottya_0"
],
"spatial_prefix": [
[
[],
[
"away"
]
]
],
"frame_duration": [
3831,
4417
],
"skill_idxes": [
15,
16,
17
]
},
{
"primitive_idx": 5,
"primitive_id": [
50
],
"primitive_description": [
"sweep surface"
],
"object_id": [
[
"broom_172",
"floors_ghetev_0"
]
],
"manipulating_object_id": [
"broom_172"
],
"spatial_prefix": [],
"frame_duration": [
[
4417,
4486
],
6724
],
"skill_idxes": [
18,
19,
20,
21,
22,
23,
24,
25,
26,
27,
28,
29,
30,
31,
32
]
},
{
"primitive_idx": 6,
"primitive_id": [
90
],
"primitive_description": [
"push to"
],
"object_id": [
[
"garden_chair_cottya_2",
"robot"
]
],
"manipulating_object_id": [
"garden_chair_cottya_2"
],
"spatial_prefix": [
[
[],
[
"away"
]
]
],
"frame_duration": [
[
6724,
6880
],
7290
],
"skill_idxes": [
33,
34,
35
]
},
{
"primitive_idx": 7,
"primitive_id": [
50
],
"primitive_description": [
"sweep surface"
],
"object_id": [
[
"broom_172",
"floors_ghetev_0"
]
],
"manipulating_object_id": [
"broom_172"
],
"spatial_prefix": [],
"frame_duration": [
7290,
10390
],
"skill_idxes": [
36,
37,
38,
39,
40,
41,
42,
43,
44,
45,
46,
47,
48,
49,
50,
51,
52
]
},
{
"primitive_idx": 8,
"primitive_id": [
3
],
"primitive_description": [
"place on"
],
"object_id": [
[
"broom_172",
"floors_ghetev_0"
]
],
"manipulating_object_id": [
"broom_172"
],
"spatial_prefix": [],
"frame_duration": [
10390,
10887
],
"skill_idxes": [
53,
54
]
}
]
}