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README.md
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# FluxBisimData
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FluxBisimData is a simulated bimanual manipulation dataset collected in IsaacSim 4.5.0. It contains multi-view RGB videos, robot joint states, and action trajectories for several tabletop manipulation tasks.
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The dataset is organized in a LeRobot Dataset v2.1 format, with one directory per task. Each task contains per-episode parquet files, synchronized videos, and metadata files describing episodes, tasks, statistics, and feature schemas.
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## Tasks
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| Directory | Episodes | Frames | Task |
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| --- | ---: | ---: | --- |
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| `close_box` | 400 | 640,000 | Pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm. |
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| `pick_place_banana` | 400 | 334,000 | Pick up the yellow banana with the right arm and put it on the pink plate. |
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| `handover_book` | 400 | 439,200 | Pick up the red book with the left arm, pass it to the right arm, then put it on the bookshelf. |
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| `pull_push_drawer` | 400 | 429,600 | Pull the drawer open with the right arm, place the apple inside with the left arm, then push it closed with the right arm. |
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| `screw_pitcher_lid` | 400 | 432,800 | Hold the cup with the left arm and place the lid on the cup with the right arm, then rotate the lid. |
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## Data Structure
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Each task directory follows this structure:
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```text
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<task_name>/
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├── data/
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│ └── chunk-000/
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│ └── episode_000000.parquet
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├── videos/
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│ └── chunk-000/
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│ ├── observation.images.head_cam/
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│ ├── observation.images.left_cam/
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│ └── observation.images.right_cam/
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└── meta/
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├── info.json
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├── episodes.jsonl
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├── episodes_stats.jsonl
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└── tasks.jsonl
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```
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The metadata files provide:
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- `meta/info.json`: dataset schema, feature definitions, fps, split information, and data/video path templates.
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- `meta/tasks.jsonl`: natural-language task instruction for the task directory.
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- `meta/episodes.jsonl`: episode index, task instruction, and episode length.
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- `meta/episodes_stats.jsonl`: per-episode statistics.
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## Features
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Each episode includes:
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- `observation.state`: 14-dimensional robot state vector.
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- `action`: 14-dimensional robot action vector.
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- `observation.images.head_cam`: RGB video from the head camera.
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- `observation.images.left_cam`: RGB video from the left camera.
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- `observation.images.right_cam`: RGB video from the right camera.
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- `timestamp`: frame timestamp.
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- `frame_index`: frame index within the episode.
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- `episode_index`: episode identifier.
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- `task_index`: task identifier.
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The 14 robot state/action dimensions are:
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```text
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left_waist, left_shoulder, left_elbow, left_forearm_roll,
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left_wrist_angle, left_wrist_rotate, left_gripper,
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right_waist, right_shoulder, right_elbow, right_forearm_roll,
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right_wrist_angle, right_wrist_rotate, right_gripper
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```
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Videos are stored at 480 x 640 resolution with 3 RGB channels and 30 FPS.
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## Project Repository
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GitHub: [https://github.com/FluxVLA/FluxBisim](https://github.com/FluxVLA/FluxBisim)
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| 1 |
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{"episode_index": 0, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 2 |
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{"episode_index": 1, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 3 |
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{"episode_index": 2, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 4 |
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{"episode_index": 3, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 5 |
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{"episode_index": 4, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 6 |
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{"episode_index": 5, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 7 |
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{"episode_index": 6, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 8 |
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{"episode_index": 7, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 9 |
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{"episode_index": 8, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 10 |
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{"episode_index": 9, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 11 |
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{"episode_index": 10, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 12 |
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{"episode_index": 11, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 13 |
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{"episode_index": 12, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 14 |
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{"episode_index": 13, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 15 |
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{"episode_index": 14, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 16 |
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{"episode_index": 15, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 17 |
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{"episode_index": 16, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 18 |
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{"episode_index": 17, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 19 |
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{"episode_index": 18, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 20 |
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{"episode_index": 19, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 21 |
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{"episode_index": 20, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 22 |
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{"episode_index": 21, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 23 |
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{"episode_index": 22, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 24 |
+
{"episode_index": 23, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 25 |
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{"episode_index": 24, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 26 |
+
{"episode_index": 25, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 27 |
+
{"episode_index": 26, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 28 |
+
{"episode_index": 27, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 29 |
+
{"episode_index": 28, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 30 |
+
{"episode_index": 29, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 31 |
+
{"episode_index": 30, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 32 |
+
{"episode_index": 31, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 33 |
+
{"episode_index": 32, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 34 |
+
{"episode_index": 33, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 35 |
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{"episode_index": 34, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 36 |
+
{"episode_index": 35, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 37 |
+
{"episode_index": 36, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 38 |
+
{"episode_index": 37, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 39 |
+
{"episode_index": 38, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 40 |
+
{"episode_index": 39, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 41 |
+
{"episode_index": 40, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 42 |
+
{"episode_index": 41, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 43 |
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{"episode_index": 42, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 44 |
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{"episode_index": 43, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 45 |
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{"episode_index": 44, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 46 |
+
{"episode_index": 45, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 47 |
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{"episode_index": 46, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 48 |
+
{"episode_index": 47, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 49 |
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{"episode_index": 48, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 50 |
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{"episode_index": 49, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 51 |
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{"episode_index": 50, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 52 |
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{"episode_index": 51, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 53 |
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{"episode_index": 52, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 54 |
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{"episode_index": 53, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 55 |
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{"episode_index": 54, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 56 |
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{"episode_index": 55, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 57 |
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{"episode_index": 56, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 58 |
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{"episode_index": 57, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 59 |
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{"episode_index": 58, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 60 |
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{"episode_index": 59, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 61 |
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{"episode_index": 60, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 62 |
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{"episode_index": 61, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 63 |
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{"episode_index": 62, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 64 |
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{"episode_index": 63, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 65 |
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{"episode_index": 64, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 66 |
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{"episode_index": 65, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 67 |
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{"episode_index": 66, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 68 |
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{"episode_index": 67, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 69 |
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{"episode_index": 68, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 70 |
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{"episode_index": 69, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 71 |
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{"episode_index": 70, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 72 |
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{"episode_index": 71, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 73 |
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|
| 74 |
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{"episode_index": 73, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 75 |
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{"episode_index": 74, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 76 |
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{"episode_index": 75, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 77 |
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{"episode_index": 76, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 78 |
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{"episode_index": 77, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 79 |
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{"episode_index": 78, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 80 |
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{"episode_index": 79, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 81 |
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{"episode_index": 80, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 82 |
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{"episode_index": 81, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 83 |
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{"episode_index": 82, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 84 |
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{"episode_index": 83, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 85 |
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{"episode_index": 84, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 86 |
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{"episode_index": 85, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 87 |
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{"episode_index": 86, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 88 |
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{"episode_index": 87, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 89 |
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{"episode_index": 88, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 90 |
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{"episode_index": 89, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 91 |
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{"episode_index": 90, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 92 |
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{"episode_index": 91, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 93 |
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|
| 94 |
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{"episode_index": 93, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 95 |
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{"episode_index": 94, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 96 |
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{"episode_index": 95, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 97 |
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{"episode_index": 96, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 98 |
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{"episode_index": 97, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 99 |
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{"episode_index": 98, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 100 |
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{"episode_index": 99, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 101 |
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{"episode_index": 100, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 102 |
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{"episode_index": 101, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 103 |
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{"episode_index": 102, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 104 |
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{"episode_index": 103, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 105 |
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{"episode_index": 104, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 106 |
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{"episode_index": 105, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 107 |
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{"episode_index": 106, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 108 |
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{"episode_index": 107, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 109 |
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{"episode_index": 108, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 110 |
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{"episode_index": 109, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 111 |
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{"episode_index": 110, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 112 |
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{"episode_index": 111, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 113 |
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{"episode_index": 112, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 114 |
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{"episode_index": 113, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 115 |
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{"episode_index": 114, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 116 |
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{"episode_index": 115, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 117 |
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{"episode_index": 116, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 118 |
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{"episode_index": 117, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 119 |
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{"episode_index": 118, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 120 |
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{"episode_index": 119, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 121 |
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{"episode_index": 120, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 122 |
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{"episode_index": 121, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 123 |
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{"episode_index": 122, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 124 |
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{"episode_index": 123, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 125 |
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{"episode_index": 124, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 126 |
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{"episode_index": 125, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 127 |
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{"episode_index": 126, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 128 |
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{"episode_index": 127, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 129 |
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{"episode_index": 128, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 130 |
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{"episode_index": 129, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 131 |
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{"episode_index": 130, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 132 |
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{"episode_index": 131, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 133 |
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{"episode_index": 132, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 134 |
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{"episode_index": 133, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 135 |
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{"episode_index": 134, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 136 |
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{"episode_index": 135, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 137 |
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{"episode_index": 136, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 138 |
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{"episode_index": 137, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 139 |
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{"episode_index": 138, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 140 |
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{"episode_index": 139, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 141 |
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{"episode_index": 140, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 142 |
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{"episode_index": 141, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 143 |
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{"episode_index": 142, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 144 |
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{"episode_index": 143, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 145 |
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{"episode_index": 144, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 146 |
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{"episode_index": 145, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 147 |
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{"episode_index": 146, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 148 |
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{"episode_index": 147, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 149 |
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{"episode_index": 148, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 150 |
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{"episode_index": 149, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 151 |
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{"episode_index": 150, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 152 |
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{"episode_index": 151, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 153 |
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{"episode_index": 152, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 154 |
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{"episode_index": 153, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 155 |
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{"episode_index": 154, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 156 |
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{"episode_index": 155, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 157 |
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{"episode_index": 156, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 158 |
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{"episode_index": 157, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 159 |
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{"episode_index": 158, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 160 |
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{"episode_index": 159, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 161 |
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{"episode_index": 160, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 162 |
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{"episode_index": 161, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 163 |
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{"episode_index": 162, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 164 |
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{"episode_index": 163, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 165 |
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| 166 |
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| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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| 172 |
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| 173 |
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|
| 174 |
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|
| 175 |
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| 176 |
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| 177 |
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| 178 |
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|
| 179 |
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|
| 180 |
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| 181 |
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| 182 |
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| 183 |
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| 184 |
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| 185 |
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| 186 |
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| 187 |
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| 188 |
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| 189 |
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| 190 |
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| 191 |
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| 192 |
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| 193 |
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| 194 |
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| 195 |
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| 196 |
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| 197 |
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| 198 |
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| 199 |
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| 200 |
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| 201 |
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| 202 |
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| 203 |
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| 204 |
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| 205 |
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| 206 |
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| 207 |
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| 208 |
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| 209 |
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| 210 |
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| 211 |
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| 212 |
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| 213 |
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| 214 |
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| 215 |
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| 216 |
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| 217 |
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| 218 |
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| 219 |
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| 220 |
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| 221 |
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| 222 |
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| 223 |
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| 224 |
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| 225 |
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| 226 |
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| 227 |
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| 228 |
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| 229 |
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| 230 |
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| 231 |
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| 232 |
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| 233 |
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| 234 |
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| 235 |
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| 236 |
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| 237 |
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| 238 |
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| 239 |
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| 240 |
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| 241 |
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| 242 |
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| 243 |
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| 244 |
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| 245 |
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| 246 |
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| 247 |
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| 248 |
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| 249 |
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| 250 |
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| 251 |
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| 252 |
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| 253 |
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| 254 |
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| 255 |
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| 256 |
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| 257 |
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| 258 |
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| 259 |
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| 260 |
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| 261 |
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| 262 |
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| 263 |
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| 264 |
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| 265 |
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| 266 |
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| 267 |
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| 268 |
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| 269 |
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| 270 |
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| 271 |
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| 272 |
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| 273 |
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| 274 |
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| 275 |
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| 276 |
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| 277 |
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| 278 |
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| 279 |
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| 280 |
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| 281 |
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| 282 |
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| 283 |
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| 284 |
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| 285 |
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| 286 |
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| 287 |
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| 288 |
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| 289 |
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| 290 |
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| 291 |
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| 292 |
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| 293 |
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| 294 |
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| 295 |
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| 296 |
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| 297 |
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| 298 |
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| 299 |
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| 300 |
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| 301 |
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| 302 |
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| 303 |
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| 304 |
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| 305 |
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| 306 |
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| 307 |
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| 308 |
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| 309 |
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| 310 |
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|
| 311 |
+
{"episode_index": 310, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 312 |
+
{"episode_index": 311, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 313 |
+
{"episode_index": 312, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 314 |
+
{"episode_index": 313, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 315 |
+
{"episode_index": 314, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 316 |
+
{"episode_index": 315, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 317 |
+
{"episode_index": 316, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 318 |
+
{"episode_index": 317, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 319 |
+
{"episode_index": 318, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 320 |
+
{"episode_index": 319, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 321 |
+
{"episode_index": 320, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 322 |
+
{"episode_index": 321, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 323 |
+
{"episode_index": 322, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 324 |
+
{"episode_index": 323, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 325 |
+
{"episode_index": 324, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 326 |
+
{"episode_index": 325, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 327 |
+
{"episode_index": 326, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 328 |
+
{"episode_index": 327, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 329 |
+
{"episode_index": 328, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 330 |
+
{"episode_index": 329, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 331 |
+
{"episode_index": 330, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 332 |
+
{"episode_index": 331, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 333 |
+
{"episode_index": 332, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 334 |
+
{"episode_index": 333, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 335 |
+
{"episode_index": 334, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 336 |
+
{"episode_index": 335, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 337 |
+
{"episode_index": 336, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 338 |
+
{"episode_index": 337, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 339 |
+
{"episode_index": 338, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 340 |
+
{"episode_index": 339, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 341 |
+
{"episode_index": 340, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 342 |
+
{"episode_index": 341, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 343 |
+
{"episode_index": 342, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 344 |
+
{"episode_index": 343, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 345 |
+
{"episode_index": 344, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 346 |
+
{"episode_index": 345, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 347 |
+
{"episode_index": 346, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 348 |
+
{"episode_index": 347, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 349 |
+
{"episode_index": 348, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 350 |
+
{"episode_index": 349, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 351 |
+
{"episode_index": 350, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 352 |
+
{"episode_index": 351, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 353 |
+
{"episode_index": 352, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 354 |
+
{"episode_index": 353, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 355 |
+
{"episode_index": 354, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 356 |
+
{"episode_index": 355, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 357 |
+
{"episode_index": 356, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 358 |
+
{"episode_index": 357, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 359 |
+
{"episode_index": 358, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 360 |
+
{"episode_index": 359, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 361 |
+
{"episode_index": 360, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 362 |
+
{"episode_index": 361, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 363 |
+
{"episode_index": 362, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 364 |
+
{"episode_index": 363, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 365 |
+
{"episode_index": 364, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 366 |
+
{"episode_index": 365, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 367 |
+
{"episode_index": 366, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 368 |
+
{"episode_index": 367, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 369 |
+
{"episode_index": 368, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 370 |
+
{"episode_index": 369, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 371 |
+
{"episode_index": 370, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 372 |
+
{"episode_index": 371, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 373 |
+
{"episode_index": 372, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 374 |
+
{"episode_index": 373, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 375 |
+
{"episode_index": 374, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 376 |
+
{"episode_index": 375, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 377 |
+
{"episode_index": 376, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 378 |
+
{"episode_index": 377, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 379 |
+
{"episode_index": 378, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 380 |
+
{"episode_index": 379, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 381 |
+
{"episode_index": 380, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 382 |
+
{"episode_index": 381, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 383 |
+
{"episode_index": 382, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 384 |
+
{"episode_index": 383, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 385 |
+
{"episode_index": 384, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 386 |
+
{"episode_index": 385, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 387 |
+
{"episode_index": 386, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 388 |
+
{"episode_index": 387, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 389 |
+
{"episode_index": 388, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 390 |
+
{"episode_index": 389, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 391 |
+
{"episode_index": 390, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 392 |
+
{"episode_index": 391, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 393 |
+
{"episode_index": 392, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 394 |
+
{"episode_index": 393, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 395 |
+
{"episode_index": 394, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 396 |
+
{"episode_index": 395, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 397 |
+
{"episode_index": 396, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 398 |
+
{"episode_index": 397, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 399 |
+
{"episode_index": 398, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
| 400 |
+
{"episode_index": 399, "tasks": ["pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"], "length": 1600}
|
close_box/meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
close_box/meta/info.json
ADDED
|
@@ -0,0 +1,170 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "aloha_sim",
|
| 4 |
+
"total_episodes": 400,
|
| 5 |
+
"total_frames": 640000,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 1200,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:400"
|
| 13 |
+
},
|
| 14 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 15 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 16 |
+
"features": {
|
| 17 |
+
"observation.state": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
14
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
[
|
| 24 |
+
"left_waist",
|
| 25 |
+
"left_shoulder",
|
| 26 |
+
"left_elbow",
|
| 27 |
+
"left_forearm_roll",
|
| 28 |
+
"left_wrist_angle",
|
| 29 |
+
"left_wrist_rotate",
|
| 30 |
+
"left_gripper",
|
| 31 |
+
"right_waist",
|
| 32 |
+
"right_shoulder",
|
| 33 |
+
"right_elbow",
|
| 34 |
+
"right_forearm_roll",
|
| 35 |
+
"right_wrist_angle",
|
| 36 |
+
"right_wrist_rotate",
|
| 37 |
+
"right_gripper"
|
| 38 |
+
]
|
| 39 |
+
]
|
| 40 |
+
},
|
| 41 |
+
"action": {
|
| 42 |
+
"dtype": "float32",
|
| 43 |
+
"shape": [
|
| 44 |
+
14
|
| 45 |
+
],
|
| 46 |
+
"names": [
|
| 47 |
+
[
|
| 48 |
+
"left_waist",
|
| 49 |
+
"left_shoulder",
|
| 50 |
+
"left_elbow",
|
| 51 |
+
"left_forearm_roll",
|
| 52 |
+
"left_wrist_angle",
|
| 53 |
+
"left_wrist_rotate",
|
| 54 |
+
"left_gripper",
|
| 55 |
+
"right_waist",
|
| 56 |
+
"right_shoulder",
|
| 57 |
+
"right_elbow",
|
| 58 |
+
"right_forearm_roll",
|
| 59 |
+
"right_wrist_angle",
|
| 60 |
+
"right_wrist_rotate",
|
| 61 |
+
"right_gripper"
|
| 62 |
+
]
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
"observation.images.head_cam": {
|
| 66 |
+
"dtype": "video",
|
| 67 |
+
"shape": [
|
| 68 |
+
480,
|
| 69 |
+
640,
|
| 70 |
+
3
|
| 71 |
+
],
|
| 72 |
+
"names": [
|
| 73 |
+
"height",
|
| 74 |
+
"width",
|
| 75 |
+
"channels"
|
| 76 |
+
],
|
| 77 |
+
"info": {
|
| 78 |
+
"video.height": 480,
|
| 79 |
+
"video.width": 640,
|
| 80 |
+
"video.codec": "av1",
|
| 81 |
+
"video.pix_fmt": "yuv420p",
|
| 82 |
+
"video.is_depth_map": false,
|
| 83 |
+
"video.fps": 30,
|
| 84 |
+
"video.channels": 3,
|
| 85 |
+
"has_audio": false
|
| 86 |
+
}
|
| 87 |
+
},
|
| 88 |
+
"observation.images.left_cam": {
|
| 89 |
+
"dtype": "video",
|
| 90 |
+
"shape": [
|
| 91 |
+
480,
|
| 92 |
+
640,
|
| 93 |
+
3
|
| 94 |
+
],
|
| 95 |
+
"names": [
|
| 96 |
+
"height",
|
| 97 |
+
"width",
|
| 98 |
+
"channels"
|
| 99 |
+
],
|
| 100 |
+
"info": {
|
| 101 |
+
"video.height": 480,
|
| 102 |
+
"video.width": 640,
|
| 103 |
+
"video.codec": "av1",
|
| 104 |
+
"video.pix_fmt": "yuv420p",
|
| 105 |
+
"video.is_depth_map": false,
|
| 106 |
+
"video.fps": 30,
|
| 107 |
+
"video.channels": 3,
|
| 108 |
+
"has_audio": false
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"observation.images.right_cam": {
|
| 112 |
+
"dtype": "video",
|
| 113 |
+
"shape": [
|
| 114 |
+
480,
|
| 115 |
+
640,
|
| 116 |
+
3
|
| 117 |
+
],
|
| 118 |
+
"names": [
|
| 119 |
+
"height",
|
| 120 |
+
"width",
|
| 121 |
+
"channels"
|
| 122 |
+
],
|
| 123 |
+
"info": {
|
| 124 |
+
"video.height": 480,
|
| 125 |
+
"video.width": 640,
|
| 126 |
+
"video.codec": "av1",
|
| 127 |
+
"video.pix_fmt": "yuv420p",
|
| 128 |
+
"video.is_depth_map": false,
|
| 129 |
+
"video.fps": 30,
|
| 130 |
+
"video.channels": 3,
|
| 131 |
+
"has_audio": false
|
| 132 |
+
}
|
| 133 |
+
},
|
| 134 |
+
"timestamp": {
|
| 135 |
+
"dtype": "float32",
|
| 136 |
+
"shape": [
|
| 137 |
+
1
|
| 138 |
+
],
|
| 139 |
+
"names": null
|
| 140 |
+
},
|
| 141 |
+
"frame_index": {
|
| 142 |
+
"dtype": "int64",
|
| 143 |
+
"shape": [
|
| 144 |
+
1
|
| 145 |
+
],
|
| 146 |
+
"names": null
|
| 147 |
+
},
|
| 148 |
+
"episode_index": {
|
| 149 |
+
"dtype": "int64",
|
| 150 |
+
"shape": [
|
| 151 |
+
1
|
| 152 |
+
],
|
| 153 |
+
"names": null
|
| 154 |
+
},
|
| 155 |
+
"index": {
|
| 156 |
+
"dtype": "int64",
|
| 157 |
+
"shape": [
|
| 158 |
+
1
|
| 159 |
+
],
|
| 160 |
+
"names": null
|
| 161 |
+
},
|
| 162 |
+
"task_index": {
|
| 163 |
+
"dtype": "int64",
|
| 164 |
+
"shape": [
|
| 165 |
+
1
|
| 166 |
+
],
|
| 167 |
+
"names": null
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
}
|
close_box/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "pick up the yellow part with the left arm and place it into the blue box, then close the box with the right arm"}
|