metadata_execution.jsonl

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{"taskvar": "real_put_fruit_in_box+1", "task_instruction": "put the lemon in the box", "episode_id": 0, "images": ["data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruit_in_box+4/0/7_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruit_in_box+4/0/7_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruit_in_box+4/0/7_img_viewpoint_2.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruit_in_box+4/0/8_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruit_in_box+4/0/8_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruit_in_box+4/0/8_img_viewpoint_2.png"], "failure_mode": "no_grasp", "detailed_subtask_name": "grasp lemon", "failure_reason": "", "plan": ["grasp lemon", "move grasped object to box", "release"], "reward": 0, "execution_reward": 0, "planning_reward": 1}
{"taskvar": "real_put_fruits_in_plate+0", "task_instruction": "put the grapes in the blue plate, then put the banana in the pink plate", "episode_id": 0, "images": ["data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/0_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/0_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/0_img_viewpoint_2.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/2_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/2_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/2_img_viewpoint_2.png"], "failure_mode": "ground_truth", "detailed_subtask_name": "grasp grapes", "failure_reason": "", "plan": ["grasp grapes", "move grasped object to blue plate", "release", "grasp banana", "move grasped object to pink plate", "release"], "reward": 1, "execution_reward": 1, "planning_reward": 1}
{"taskvar": "real_put_fruits_in_plate+0", "task_instruction": "put the grapes in the blue plate, then put the banana in the pink plate", "episode_id": 0, "images": ["data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/2_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/2_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/2_img_viewpoint_2.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/4_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/4_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/4_img_viewpoint_2.png"], "failure_mode": "ground_truth", "detailed_subtask_name": "move grasped object to blue plate", "failure_reason": "", "plan": ["grasp grapes", "move grasped object to blue plate", "release", "grasp banana", "move grasped object to pink plate", "release"], "reward": 1, "execution_reward": 1, "planning_reward": 1}
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{"taskvar": "real_put_fruits_in_plate+0", "task_instruction": "put the grapes in the blue plate, then put the strawberry in the pink plate", "episode_id": 0, "images": ["data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/6_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/6_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/6_img_viewpoint_2.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/8_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/8_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/8_img_viewpoint_2.png"], "failure_mode": "wrong_object", "detailed_subtask_name": "grasp strawberry", "failure_reason": "wrong object: banana", "plan": ["grasp grapes", "move grasped object to blue plate", "release", "grasp strawberry", "move grasped object to pink plate", "release"], "reward": 0, "execution_reward": 0, "planning_reward": 1}
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{"taskvar": "real_put_fruits_in_plate+0", "task_instruction": "put the grapes in the blue plate, then put the banana in the pink plate", "episode_id": 0, "images": ["data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/8_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/8_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/8_img_viewpoint_2.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/11_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/11_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/11_img_viewpoint_2.png"], "failure_mode": "translation_target", "detailed_subtask_name": "move grasped object to pink plate", "failure_reason": "", "plan": ["grasp grapes", "move grasped object to blue plate", "release", "grasp banana", "move grasped object to pink plate", "release"], "reward": 0, "execution_reward": 0, "planning_reward": 1}
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{"taskvar": "real_put_fruits_in_plate+0", "task_instruction": "put the grapes in the blue plate, then put the banana in the pink plate", "episode_id": 0, "images": ["data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/14_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/14_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/14_img_viewpoint_2.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/15_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/15_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/15_img_viewpoint_2.png"], "failure_mode": "wrong_target", "detailed_subtask_name": "move grasped object to pink plate", "failure_reason": "wrong target: blue plate", "plan": ["grasp grapes", "move grasped object to blue plate", "release", "grasp banana", "move grasped object to pink plate", "release"], "reward": 0, "execution_reward": 0, "planning_reward": 1}
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{"taskvar": "real_put_item_in_drawer+0", "task_instruction": "put the frog toy in the top part of the drawer", "episode_id": 0, "images": ["data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/0_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/0_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/0_img_viewpoint_2.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/2_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/2_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/2_img_viewpoint_2.png"], "failure_mode": "ground_truth", "detailed_subtask_name": "grasp top part of the drawer", "failure_reason": "", "plan": ["grasp top part of the drawer", "move grasped object out", "release", "grasp frog toy", "move grasped object to top part of the drawer", "release"], "reward": 1, "execution_reward": 1, "planning_reward": 1}
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{"taskvar": "real_stack_cups+0", "task_instruction": "stack red cup onto yellow cup onto black cup", "episode_id": 0, "images": ["data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cups+0/0/18_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cups+0/0/18_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cups+0/0/18_img_viewpoint_2.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cups+0/0/19_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cups+0/0/19_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cups+0/0/19_img_viewpoint_2.png"], "failure_mode": "ground_truth", "detailed_subtask_name": "move grasped object to black cup", "failure_reason": "", "plan": ["grasp red cup", "move grasped object to yellow cup", "release", "grasp yellow cup", "move grasped object to black cup", "release"], "reward": 1, "execution_reward": 1, "planning_reward": 1}
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{"taskvar": "real_hungry+0", "task_instruction": "i'm hungry, give me some food", "episode_id": 0, "images": ["data/failure_forge/data/ur5fail_val_dataset/records/real_hungry+0/episode0/0_img_viewpoint_left.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_hungry+0/episode0/0_img_viewpoint_right.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_hungry+0/episode0/0_img_viewpoint_wrist.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_hungry+0/episode0/1_img_viewpoint_left.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_hungry+0/episode0/1_img_viewpoint_right.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_hungry+0/episode0/1_img_viewpoint_wrist.png"], "failure_mode": "wrong_object", "detailed_subtask_name": "grasp squash", "failure_reason": "wrong object: screwdriver", "plan": ["grasp squash"], "reward": 0, "execution_reward": 0, "planning_reward": 1}
{"taskvar": "real_pick_item_in_box+0", "task_instruction": "put the rubik's cube in the box", "episode_id": 1, "images": ["data/failure_forge/data/ur5fail_val_dataset/records/real_pick_item_in_box+0/episode1/2_img_viewpoint_left.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_pick_item_in_box+0/episode1/2_img_viewpoint_right.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_pick_item_in_box+0/episode1/2_img_viewpoint_wrist.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_pick_item_in_box+0/episode1/5_img_viewpoint_left.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_pick_item_in_box+0/episode1/5_img_viewpoint_right.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_pick_item_in_box+0/episode1/5_img_viewpoint_wrist.png"], "failure_mode": "wrong_target", "detailed_subtask_name": "move grasped object to box", "failure_reason": "wrong target: table", "plan": ["grasp rubik's cube", "move grasped object to box", "release"], "reward": 0, "execution_reward": 0, "planning_reward": 1}
{"taskvar": "real_pick_item_in_box+0", "task_instruction": "store the food in the container", "episode_id": 2, "images": ["data/failure_forge/data/ur5fail_val_dataset/records/real_pick_item_in_box+0/episode2/0_img_viewpoint_left.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_pick_item_in_box+0/episode2/0_img_viewpoint_right.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_pick_item_in_box+0/episode2/0_img_viewpoint_wrist.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_pick_item_in_box+0/episode2/2_img_viewpoint_left.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_pick_item_in_box+0/episode2/2_img_viewpoint_right.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_pick_item_in_box+0/episode2/2_img_viewpoint_wrist.png"], "failure_mode": "ground_truth", "detailed_subtask_name": "grasp croissant", "failure_reason": "", "plan": ["grasp croissant", "move grasped object to box", "release"], "reward": 1, "execution_reward": 1, "planning_reward": 1}
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