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meta/episodes.jsonl

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-{"episode_index": 1, "tasks": ["Place a green cube on the target area. Steps: 1) Move the gripper to a position directly above the green cube. 2) Lower to make contact and gently nudge to clear nearby blocks if needed. 3) Grasp the green cube securely. 4) Lift the cube upward. 5) Move the gripper to the target area while holding the cube. 6) Release the cube onto the target area."], "length": 650}
-{"episode_index": 2, "tasks": ["Hover above the top-left corner of the yellow cubes, with the gripper closed.", "Move the gripper above the target area's center, with the gripper closed.", "Vertically lower the gripper toward the yellow cubes, with the gripper closed.", "Vertically lower the gripper to the table, with the gripper closed.", "Lift the gripper, with the gripper closed.", "Vertically lower the gripper to the yellow cube, with the gripper open.", "Push two yellow cubes away from neighbors, with the gripper closed.", "Vertically lift the gripper.", "Close the gripper to grasp the cube.", "Rotate the gripper above the yellow cubes to prepare for grasping, with the gripper open.", "Open the gripper to release the cube."], "length": 650}
-{"episode_index": 3, "tasks": ["Place a blue cube on the target area. Steps: 1) Move the gripper to a position directly above the blue cube. 2) Lower to make contact and gently nudge to clear nearby blocks if needed. 3) Grasp the blue cube securely. 4) Lift the cube upward. 5) Move the gripper to the target area while holding the cube. 6) Release the cube onto the target area."], "length": 650}
-{"episode_index": 4, "tasks": ["Place a red cube on the target area. Steps: 1) Move the gripper to a position directly above the red cube. 2) Lower to make contact and gently nudge to clear nearby blocks if needed. 3) Grasp the red cube securely. 4) Lift the cube upward. 5) Move the gripper to the target area while holding the cube. 6) Release the cube onto the target area."], "length": 650}
+{"episode_index": 0, "tasks": ["Vertically lift the gripper.", "Open the gripper to release the cube.", "Vertically lower the gripper toward the orange cubes, with the gripper closed.", "Move the gripper above the target area's center, with the gripper closed.", "Push two orange cubes away from neighbors, with the gripper closed.", "Vertically lower the gripper to the orange cube, with the gripper open.", "Rotate the gripper above the orange cubes to prepare for grasping, with the gripper open.", "Lift the gripper, with the gripper closed.", "Vertically lower the gripper to the table, with the gripper closed.", "Close the gripper to grasp the cube.", "Hover above the top-left corner of the orange cubes, with the gripper closed."], "length": 725}
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meta/episodes_stats.jsonl

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meta/info.json

@@ -2,8 +2,8 @@
     "codebase_version": "v2.1",
     "robot_type": "panda",
     "total_episodes": 5,
-    "total_frames": 3250,
-    "total_tasks": 15,
+    "total_frames": 3625,
+    "total_tasks": 31,
     "total_videos": 0,
     "total_chunks": 1,
     "chunks_size": 1000,

meta/tasks.jsonl

@@ -1,15 +1,31 @@
-{"task_index": 0, "task": "Place an orange cube on the target area. Steps: 1) Move the gripper to a position directly above the orange cube. 2) Lower to make contact and gently nudge to clear nearby blocks if needed. 3) Grasp the orange cube securely. 4) Lift the cube upward. 5) Move the gripper to the target area while holding the cube. 6) Release the cube onto the target area."}
-{"task_index": 1, "task": "Place a green cube on the target area. Steps: 1) Move the gripper to a position directly above the green cube. 2) Lower to make contact and gently nudge to clear nearby blocks if needed. 3) Grasp the green cube securely. 4) Lift the cube upward. 5) Move the gripper to the target area while holding the cube. 6) Release the cube onto the target area."}
-{"task_index": 2, "task": "Hover above the top-left corner of the yellow cubes, with the gripper closed."}
+{"task_index": 0, "task": "Vertically lift the gripper."}
+{"task_index": 1, "task": "Open the gripper to release the cube."}
+{"task_index": 2, "task": "Vertically lower the gripper toward the orange cubes, with the gripper closed."}
 {"task_index": 3, "task": "Move the gripper above the target area's center, with the gripper closed."}
-{"task_index": 4, "task": "Vertically lower the gripper toward the yellow cubes, with the gripper closed."}
-{"task_index": 5, "task": "Vertically lower the gripper to the table, with the gripper closed."}
-{"task_index": 6, "task": "Lift the gripper, with the gripper closed."}
-{"task_index": 7, "task": "Vertically lower the gripper to the yellow cube, with the gripper open."}
-{"task_index": 8, "task": "Push two yellow cubes away from neighbors, with the gripper closed."}
-{"task_index": 9, "task": "Vertically lift the gripper."}
-{"task_index": 10, "task": "Close the gripper to grasp the cube."}
-{"task_index": 11, "task": "Rotate the gripper above the yellow cubes to prepare for grasping, with the gripper open."}
-{"task_index": 12, "task": "Open the gripper to release the cube."}
-{"task_index": 13, "task": "Place a blue cube on the target area. Steps: 1) Move the gripper to a position directly above the blue cube. 2) Lower to make contact and gently nudge to clear nearby blocks if needed. 3) Grasp the blue cube securely. 4) Lift the cube upward. 5) Move the gripper to the target area while holding the cube. 6) Release the cube onto the target area."}
-{"task_index": 14, "task": "Place a red cube on the target area. Steps: 1) Move the gripper to a position directly above the red cube. 2) Lower to make contact and gently nudge to clear nearby blocks if needed. 3) Grasp the red cube securely. 4) Lift the cube upward. 5) Move the gripper to the target area while holding the cube. 6) Release the cube onto the target area."}
+{"task_index": 4, "task": "Push two orange cubes away from neighbors, with the gripper closed."}
+{"task_index": 5, "task": "Vertically lower the gripper to the orange cube, with the gripper open."}
+{"task_index": 6, "task": "Rotate the gripper above the orange cubes to prepare for grasping, with the gripper open."}
+{"task_index": 7, "task": "Lift the gripper, with the gripper closed."}
+{"task_index": 8, "task": "Vertically lower the gripper to the table, with the gripper closed."}
+{"task_index": 9, "task": "Close the gripper to grasp the cube."}
+{"task_index": 10, "task": "Hover above the top-left corner of the orange cubes, with the gripper closed."}
+{"task_index": 11, "task": "Push two green cubes away from neighbors, with the gripper closed."}
+{"task_index": 12, "task": "Rotate the gripper above the green cubes to prepare for grasping, with the gripper open."}
+{"task_index": 13, "task": "Vertically lower the gripper toward the green cubes, with the gripper closed."}
+{"task_index": 14, "task": "Vertically lower the gripper to the green cube, with the gripper open."}
+{"task_index": 15, "task": "Hover above the top-left corner of the green cubes, with the gripper closed."}
+{"task_index": 16, "task": "Vertically lower the gripper to the yellow cube, with the gripper open."}
+{"task_index": 17, "task": "Rotate the gripper above the yellow cubes to prepare for grasping, with the gripper open."}
+{"task_index": 18, "task": "Hover above the top-left corner of the yellow cubes, with the gripper closed."}
+{"task_index": 19, "task": "Push two yellow cubes away from neighbors, with the gripper closed."}
+{"task_index": 20, "task": "Vertically lower the gripper toward the yellow cubes, with the gripper closed."}
+{"task_index": 21, "task": "Push two blue cubes away from neighbors, with the gripper closed."}
+{"task_index": 22, "task": "Rotate the gripper above the blue cubes to prepare for grasping, with the gripper open."}
+{"task_index": 23, "task": "Vertically lower the gripper to the blue cube, with the gripper open."}
+{"task_index": 24, "task": "Hover above the top-left corner of the blue cubes, with the gripper closed."}
+{"task_index": 25, "task": "Vertically lower the gripper toward the blue cubes, with the gripper closed."}
+{"task_index": 26, "task": "Vertically lower the gripper to the red cube, with the gripper open."}
+{"task_index": 27, "task": "Rotate the gripper above the red cubes to prepare for grasping, with the gripper open."}
+{"task_index": 28, "task": "Push two red cubes away from neighbors, with the gripper closed."}
+{"task_index": 29, "task": "Vertically lower the gripper toward the red cubes, with the gripper closed."}
+{"task_index": 30, "task": "Hover above the top-left corner of the red cubes, with the gripper closed."}