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  {"episode_index": 6, "tasks": ["Build a flat yellow L: lay two yellow blocks as a short base left-to-right, then place a third yellow directly in front of the rightmost block."], "length": 1700}
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  {"episode_index": 7, "tasks": ["Lay four blocks in one row left-to-right: orange, green, orange, green."], "length": 2125}
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  {"episode_index": 8, "tasks": ["Form a flat T: place a yellow block at the center, a blue block directly to its right as the stem, then yellow blocks directly above and below the center to form the top bar."], "length": 2338}
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- {"episode_index": 9, "tasks": ["Create a small arc: place orange, yellow, green in a row left-to-right, then place a blue block directly in front of the green to bend the arc upward."], "length": 2550}
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- {"episode_index": 10, "tasks": ["Make a flat barbell of five blocks in a row: red, yellow, yellow, yellow, red from left to right."], "length": 2763}
 
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  {"episode_index": 6, "tasks": ["Build a flat yellow L: lay two yellow blocks as a short base left-to-right, then place a third yellow directly in front of the rightmost block."], "length": 1700}
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  {"episode_index": 7, "tasks": ["Lay four blocks in one row left-to-right: orange, green, orange, green."], "length": 2125}
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  {"episode_index": 8, "tasks": ["Form a flat T: place a yellow block at the center, a blue block directly to its right as the stem, then yellow blocks directly above and below the center to form the top bar."], "length": 2338}
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+ {"episode_index": 10, "tasks": ["Create a small arc: place orange, yellow, green in a row left-to-right, then place a blue block directly in front of the green to bend the arc upward."], "length": 2550}
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11
- {"episode_index": 10, "stats": {"exterior_image_1_left": {"min": [[[0.0392156862745098]], [[0.07450980392156863]], [[0.0]]], "max": [[[0.9725490196078431]], [[0.9725490196078431]], [[0.9725490196078431]]], "mean": [[[0.4552863287703533]], [[0.39999102638923023]], [[0.3744746557579725]]], "std": [[[0.2498055960781054]], [[0.2198526321066852]], [[0.21481091089983909]]], "count": [381]}, "exterior_image_2_left": {"min": [[[0.0392156862745098]], [[0.07450980392156863]], [[0.0]]], "max": [[[0.9725490196078431]], [[0.9725490196078431]], [[0.9725490196078431]]], "mean": [[[0.4552863287703533]], [[0.39999102638923023]], [[0.3744746557579725]]], "std": [[[0.2498055960781054]], [[0.2198526321066852]], [[0.21481091089983909]]], "count": [381]}, "wrist_image_left": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4960512184286444]], [[0.32337138021218986]], [[0.22069993249104106]]], "std": [[[0.12836115951329233]], [[0.1343747821413335]], [[0.11552587264967991]]], "count": [381]}, "joint_position": {"min": [-0.33788952231407166, -0.7850000262260437, -2.4865360260009766, -2.5879530906677246, -0.9491250514984131, 1.5709999799728394, 0.22343997657299042], "max": [1.7866886854171753, 0.8584182262420654, 0.2933846414089203, -1.9001331329345703, 0.9379501342773438, 2.932945489883423, 2.8973004817962646], "mean": [0.5593858361244202, 0.3042825758457184, -0.503561794757843, -2.3211636543273926, 0.1828889399766922, 2.5803229808807373, 1.7703664302825928], "std": [0.557526707649231, 0.2888694107532501, 0.6168713569641113, 0.14402489364147186, 0.3840785324573517, 0.16203534603118896, 0.6960139274597168], "count": [2763]}, "gripper_position": {"min": [-0.09295418113470078], "max": [1.411316156387329], "mean": [0.5826700925827026], "std": [0.3681761622428894], "count": [2763]}, "actions": {"min": [-0.3933977782726288, -0.4397338330745697, -0.34796473383903503, -0.4337596595287323, -0.3684118986129761, -0.2923249900341034, -0.434174507856369, -0.0931490957736969], "max": [0.4378507137298584, 0.3155064284801483, 0.4027533233165741, 0.3914165198802948, 0.4016500413417816, 0.3079032599925995, 0.44650551676750183, 1.4259605407714844], "mean": [0.0030258754268288612, 0.006023595575243235, -0.006382074672728777, -0.0001257098774658516, 0.0025002448819577694, 0.004693477414548397, 0.0032405811361968517, 0.5825774669647217], "std": [0.11022162437438965, 0.12336845695972443, 0.1192002147436142, 0.06348422914743423, 0.1093769371509552, 0.09268966317176819, 0.14995995163917542, 0.3682076334953308], "count": [2763]}, "timestamp": {"min": [0.0], "max": [184.13333333333333], "mean": [92.06666666666666], "std": [53.17395630973522], "count": [2763]}, "frame_index": {"min": [0], "max": [2762], "mean": [1381.0], "std": [797.6093446460283], "count": [2763]}, "episode_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [2763]}, "index": {"min": [14241], "max": [17003], "mean": [15622.0], "std": [797.6093446460283], "count": [2763]}, "task_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [2763]}}}
 
7
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8
  {"episode_index": 7, "stats": {"exterior_image_1_left": {"min": [[[0.0392156862745098]], [[0.07450980392156863]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44624375115631193]], [[0.399239088413811]], [[0.37887992060806697]]], "std": [[[0.24733818146624137]], [[0.21857834634292544]], [[0.21137099343507296]]], "count": [312]}, "exterior_image_2_left": {"min": [[[0.0392156862745098]], [[0.07450980392156863]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44624375115631193]], [[0.399239088413811]], [[0.37887992060806697]]], "std": [[[0.24733818146624137]], [[0.21857834634292544]], [[0.21137099343507296]]], "count": [312]}, "wrist_image_left": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4714744223510718]], [[0.31758617183852705]], [[0.21846074843198499]]], "std": [[[0.1398501451193638]], [[0.1288812068226629]], [[0.11630251766676883]]], "count": [312]}, "joint_position": {"min": [0.0, -0.7850000262260437, -2.8602607250213623, -2.584787130355835, -1.234550952911377, 1.5698480606079102, 0.7850000262260437], "max": [2.3225080966949463, 1.0818225145339966, 0.00017889216542243958, -1.3009099960327148, 1.1015443801879883, 2.83322811126709, 2.8994693756103516], "mean": [1.401978611946106, 0.301054447889328, -1.0842868089675903, -2.096583127975464, 0.1650499701499939, 2.4001963138580322, 2.282524585723877], "std": [0.5232754945755005, 0.5381253957748413, 0.7569408416748047, 0.326214075088501, 0.5979413390159607, 0.19722634553909302, 0.5371701121330261], "count": [2125]}, "gripper_position": {"min": [-0.07573802769184113], "max": [1.3799824714660645], "mean": [0.6355113983154297], "std": [0.35647544264793396], "count": [2125]}, "actions": {"min": [-0.3711676299571991, -0.33573517203330994, -0.34856554865837097, -0.33488985896110535, -0.5338391661643982, -0.37570950388908386, -0.40504929423332214, -0.07999015599489212], "max": [0.5326080322265625, 0.6887232661247253, 0.41315314173698425, 0.6962012648582458, 0.5177915096282959, 0.49541470408439636, 0.7393597960472107, 1.3808518648147583], "mean": [0.013803915120661259, 0.004947290290147066, -0.018064264208078384, -0.0006621479988098145, -0.0004938784404657781, 0.006552157923579216, 0.007282312959432602, 0.6355408430099487], "std": [0.13874463737010956, 0.15945251286029816, 0.1532992273569107, 0.10028521716594696, 0.16600579023361206, 0.09120022505521774, 0.17760735750198364, 0.356423556804657], "count": [2125]}, "timestamp": {"min": [0.0], "max": [141.6], "mean": [70.8], "std": [40.895639539360836], "count": [2125]}, "frame_index": {"min": [0], "max": [2124], "mean": [1062.0], "std": [613.4345930904125], "count": [2125]}, "episode_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [2125]}, "index": {"min": [7228], "max": [9352], "mean": [8290.0], "std": [613.4345930904125], "count": [2125]}, "task_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [2125]}}}
9
  {"episode_index": 8, "stats": {"exterior_image_1_left": {"min": [[[0.0392156862745098]], [[0.07450980392156863]], [[0.0]]], "max": [[[0.9725490196078431]], [[0.9725490196078431]], [[0.9725490196078431]]], "mean": [[[0.45416562109404773]], [[0.40097194104576356]], [[0.3767700737288963]]], "std": [[[0.2488019977296825]], [[0.21730651335922052]], [[0.21197085469366075]]], "count": [336]}, "exterior_image_2_left": {"min": [[[0.0392156862745098]], [[0.07450980392156863]], [[0.0]]], "max": [[[0.9725490196078431]], [[0.9725490196078431]], [[0.9725490196078431]]], "mean": [[[0.45416562109404773]], [[0.40097194104576356]], [[0.3767700737288963]]], "std": [[[0.2488019977296825]], [[0.21730651335922052]], [[0.21197085469366075]]], "count": [336]}, "wrist_image_left": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4773606845546998]], [[0.3143032799057123]], [[0.21219618148598723]]], "std": [[[0.14442376623422373]], [[0.14182567867626028]], [[0.12599736256940505]]], "count": [336]}, "joint_position": {"min": [-0.3521324396133423, -1.1727265119552612, -2.521348476409912, -2.6975321769714355, -1.4931334257125854, 1.549083948135376, 0.11962923407554626], "max": [2.6640944480895996, 0.8655911684036255, 0.2906308174133301, -1.898926019668579, 0.9813580513000488, 2.8842597007751465, 2.8972995281219482], "mean": [1.0706794261932373, 0.06143323704600334, -0.856902003288269, -2.331376314163208, -0.045678041875362396, 2.4795851707458496, 1.8595454692840576], "std": [0.6484814286231995, 0.5532430410385132, 0.7412375807762146, 0.18360838294029236, 0.6629894971847534, 0.2472255676984787, 0.7291754484176636], "count": [2338]}, "gripper_position": {"min": [-0.08548297733068466], "max": [1.3734439611434937], "mean": [0.5766674876213074], "std": [0.37376922369003296], "count": [2338]}, "actions": {"min": [-0.6372355818748474, -0.45199599862098694, -0.6550669074058533, -0.40336844325065613, -1.0217177867889404, -0.3962516486644745, -0.45831796526908875, -0.08560378849506378], "max": [0.7022724747657776, 0.6441181302070618, 0.7165359854698181, 0.6486510634422302, 0.6555193066596985, 0.6839703917503357, 0.6659888625144958, 1.3414969444274902], "mean": [0.008016384206712246, 0.005547530483454466, -0.011700140312314034, -0.0013779379660263658, 0.0006533682462759316, 0.00621878681704402, -0.004298222251236439, 0.5766412019729614], "std": [0.16158008575439453, 0.16103093326091766, 0.17843249440193176, 0.07777009159326553, 0.1876765340566635, 0.11179793626070023, 0.20680764317512512, 0.3737483620643616], "count": [2338]}, "timestamp": {"min": [0.0], "max": [155.8], "mean": [77.9], "std": [44.99482686314555], "count": [2338]}, "frame_index": {"min": [0], "max": [2337], "mean": [1168.5], "std": [674.9224029471833], "count": [2338]}, "episode_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [2338]}, "index": {"min": [9353], "max": [11690], "mean": [10521.5], "std": [674.9224029471833], "count": [2338]}, "task_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [2338]}}}
10
+ {"episode_index": 9, "stats": {"exterior_image_1_left": {"min": [[[0.0392156862745098]], [[0.07450980392156863]], [[0.0]]], "max": [[[0.9725490196078431]], [[0.9725490196078431]], [[0.9725490196078431]]], "mean": [[[0.45539203808984224]], [[0.4000865971388555]], [[0.37458034764102494]]], "std": [[[0.24971503678553342]], [[0.21973520955929657]], [[0.21479796798332693]]], "count": [381]}, "exterior_image_2_left": {"min": [[[0.0392156862745098]], [[0.07450980392156863]], [[0.0]]], "max": [[[0.9725490196078431]], [[0.9725490196078431]], [[0.9725490196078431]]], "mean": [[[0.45539203808984224]], [[0.4000865971388555]], [[0.37458034764102494]]], "std": [[[0.24971503678553342]], [[0.21973520955929657]], [[0.21479796798332693]]], "count": [381]}, "wrist_image_left": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4957186229150453]], [[0.32308807565841297]], [[0.2200572149791675]]], "std": [[[0.12873381888398888]], [[0.13481712103254417]], [[0.11502117072980177]]], "count": [381]}, "joint_position": {"min": [-0.32945582270622253, -0.7850000262260437, -2.4915425777435303, -2.5867838859558105, -0.9436057209968567, 1.5709999799728394, 0.22279180586338043], "max": [1.7921607494354248, 0.8799378275871277, 0.29755187034606934, -1.8955280780792236, 0.9356746077537537, 2.935004949569702, 2.8973004817962646], "mean": [0.558314323425293, 0.30763229727745056, -0.5007272362709045, -2.3187692165374756, 0.1846235990524292, 2.572181224822998, 1.7691011428833008], "std": [0.565424919128418, 0.28744596242904663, 0.6236395835876465, 0.14408092200756073, 0.3900149464607239, 0.16545797884464264, 0.7073308825492859], "count": [2763]}, "gripper_position": {"min": [-0.09354522079229355], "max": [1.3767088651657104], "mean": [0.5647228956222534], "std": [0.36383023858070374], "count": [2763]}, "actions": {"min": [-0.3349470794200897, -0.2842538058757782, -0.34699198603630066, -0.32305237650871277, -0.33895251154899597, -0.3371572196483612, -0.4552602469921112, -0.09369619935750961], "max": [0.43133851885795593, 0.31458643078804016, 0.432684987783432, 0.23021219670772552, 0.3948908746242523, 0.30722376704216003, 0.46135422587394714, 1.3767528533935547], "mean": [0.0029583468567579985, 0.006005492061376572, -0.006369287148118019, -0.00010181360994465649, 0.0024809043388813734, 0.004682812374085188, 0.003274911781772971, 0.5646117925643921], "std": [0.10907741636037827, 0.12062155455350876, 0.1186717227101326, 0.06231105327606201, 0.1085396558046341, 0.09201554208993912, 0.15006418526172638, 0.3638627231121063], "count": [2763]}, "timestamp": {"min": [0.0], "max": [184.13333333333333], "mean": [92.06666666666666], "std": [53.17395630973522], "count": [2763]}, "frame_index": {"min": [0], "max": [2762], "mean": [1381.0], "std": [797.6093446460283], "count": [2763]}, "episode_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [2763]}, "index": {"min": [11691], "max": [14453], "mean": [13072.0], "std": [797.6093446460283], "count": [2763]}, "task_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [2763]}}}
11
+ {"episode_index": 10, "stats": {"exterior_image_1_left": {"min": [[[0.0392156862745098]], [[0.07450980392156863]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4462420355712117]], [[0.39695808752970463]], [[0.3748447362534399]]], "std": [[[0.24671381529207706]], [[0.21653671764741345]], [[0.21010014129098467]]], "count": [358]}, "exterior_image_2_left": {"min": [[[0.0392156862745098]], [[0.07450980392156863]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4462420355712117]], [[0.39695808752970463]], [[0.3748447362534399]]], "std": [[[0.24671381529207706]], [[0.21653671764741345]], [[0.21010014129098467]]], "count": [358]}, "wrist_image_left": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47207743061435464]], [[0.30993544611454915]], [[0.2082345946845917]]], "std": [[[0.14662138425659718]], [[0.1324599554634915]], [[0.11829900626860586]]], "count": [358]}, "joint_position": {"min": [0.0, -1.2875697612762451, -2.1994574069976807, -2.700216293334961, -1.5354236364364624, 1.5630626678466797, 0.7850000262260437], "max": [2.6916556358337402, 1.081981897354126, 0.004756999667733908, -1.3007276058197021, 0.9766761660575867, 2.8732235431671143, 2.8996059894561768], "mean": [1.1956769227981567, 0.24297432601451874, -0.8432602882385254, -2.1872329711914062, 0.15828730165958405, 2.4322845935821533, 1.9361077547073364], "std": [0.5444005131721497, 0.5798810720443726, 0.5469701290130615, 0.3223932385444641, 0.640049159526825, 0.2404898703098297, 0.6341853141784668], "count": [2550]}, "gripper_position": {"min": [-0.08554290235042572], "max": [1.087744116783142], "mean": [0.5246363878250122], "std": [0.37778031826019287], "count": [2550]}, "actions": {"min": [-0.6579994559288025, -0.4513513743877411, -0.6957005858421326, -0.4395246207714081, -1.0162568092346191, -0.31256672739982605, -0.4626130759716034, -0.08560765534639359], "max": [0.6456040740013123, 0.7314061522483826, 0.7406901717185974, 0.7155846953392029, 0.4009043872356415, 0.36708351969718933, 0.7470917105674744, 1.0859516859054565], "mean": [0.00677924370393157, -0.002163402969017625, -0.0094120092689991, 0.0004800150345545262, -0.007373446132987738, 0.0016572161111980677, 0.0012486131163313985, 0.524566650390625], "std": [0.15043962001800537, 0.14187262952327728, 0.15917974710464478, 0.0852682888507843, 0.16047263145446777, 0.08797703683376312, 0.1902802288532257, 0.3777559995651245], "count": [2550]}, "timestamp": {"min": [0.0], "max": [169.93333333333334], "mean": [84.96666666666665], "std": [49.074769107586874], "count": [2550]}, "frame_index": {"min": [0], "max": [2549], "mean": [1274.5], "std": [736.1215366138031], "count": [2550]}, "episode_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [2550]}, "index": {"min": [14454], "max": [17003], "mean": [15728.5], "std": [736.1215366138031], "count": [2550]}, "task_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [2550]}}}
meta/tasks.jsonl CHANGED
@@ -7,5 +7,5 @@
7
  {"task_index": 6, "task": "Build a flat yellow L: lay two yellow blocks as a short base left-to-right, then place a third yellow directly in front of the rightmost block."}
8
  {"task_index": 7, "task": "Lay four blocks in one row left-to-right: orange, green, orange, green."}
9
  {"task_index": 8, "task": "Form a flat T: place a yellow block at the center, a blue block directly to its right as the stem, then yellow blocks directly above and below the center to form the top bar."}
10
- {"task_index": 9, "task": "Create a small arc: place orange, yellow, green in a row left-to-right, then place a blue block directly in front of the green to bend the arc upward."}
11
- {"task_index": 10, "task": "Make a flat barbell of five blocks in a row: red, yellow, yellow, yellow, red from left to right."}
 
7
  {"task_index": 6, "task": "Build a flat yellow L: lay two yellow blocks as a short base left-to-right, then place a third yellow directly in front of the rightmost block."}
8
  {"task_index": 7, "task": "Lay four blocks in one row left-to-right: orange, green, orange, green."}
9
  {"task_index": 8, "task": "Form a flat T: place a yellow block at the center, a blue block directly to its right as the stem, then yellow blocks directly above and below the center to form the top bar."}
10
+ {"task_index": 9, "task": "Make a flat barbell of five blocks in a row: red, yellow, yellow, yellow, red from left to right."}
11
+ {"task_index": 10, "task": "Create a small arc: place orange, yellow, green in a row left-to-right, then place a blue block directly in front of the green to bend the arc upward."}
task_episode_mapping.txt CHANGED
@@ -7,5 +7,5 @@
7
  6:arrange_yellow_L
8
  7:arrange_orange_green_line
9
  8:arrange_yellow_blue_T
10
- 9:arrange_rainbow_arc
11
- 10:arrange_red_barbell
 
7
  6:arrange_yellow_L
8
  7:arrange_orange_green_line
9
  8:arrange_yellow_blue_T
10
+ 9:arrange_red_barbell
11
+ 10:arrange_rainbow_arc