[ { "id": "droid_cotrack_episode_1958", "task": "Move the spoon slightly up; Turn the black spoon clockwise; Move the spoon to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1958/frame_0000.jpg", "droid-cotrack/images/episode_1958/frame_0096.jpg", "droid-cotrack/images/episode_1958/frame_0126.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the spoon slightly up; Turn the black spoon clockwise; Move the spoon to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the spoon slightly up; Turn the black spoon clockwise; Move the spoon to the left, execute the following phases: 1) Initial approach phase (start at [0.625, 0.450]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.635, 0.403]). The trajectory involves 127 precise waypoints with total movement distance of 0.194." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1958", "trajectory_length": 127, "key_frame_indices": [ 0, 96, 126 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1958.json" } }, { "id": "droid_cotrack_episode_1867", "task": "Take the straw from the table and put it in the black storage box; Put the red thing on the table in the trash; Put the pencil in the black bin", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1867/frame_0000.jpg", "droid-cotrack/images/episode_1867/frame_0252.jpg", "droid-cotrack/images/episode_1867/frame_0291.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the straw from the table and put it in the black storage box; Put the red thing on the table in the trash; Put the pencil in the black bin?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Take the straw from the table and put it in the black storage box; Put the red thing on the table in the trash; Put the pencil in the black bin, execute the following phases: 1) Initial approach phase (start at [0.575, 0.391]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.666, 0.334]). The trajectory involves 292 precise waypoints with total movement distance of 1.129." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1867", "trajectory_length": 292, "key_frame_indices": [ 0, 252, 291 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1867.json" } }, { "id": "droid_cotrack_episode_4293", "task": "Put the pen in the cup; Put the pen in the glass; Put the pen inside the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4293/frame_0000.jpg", "droid-cotrack/images/episode_4293/frame_0113.jpg", "droid-cotrack/images/episode_4293/frame_0138.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pen in the cup; Put the pen in the glass; Put the pen inside the cup?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the pen in the cup; Put the pen in the glass; Put the pen inside the cup, execute the following phases: 1) Initial approach phase (start at [0.672, 0.851]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.805, 0.745]). The trajectory involves 139 precise waypoints with total movement distance of 0.578." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4293", "trajectory_length": 139, "key_frame_indices": [ 0, 113, 138 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4293.json" } }, { "id": "droid_cotrack_episode_1128", "task": "Pick up the purple object from the table and put it in the bowl; Pick up the purple object and put it in the bowl; Put the grape in the white dish", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1128/frame_0000.jpg", "droid-cotrack/images/episode_1128/frame_0130.jpg", "droid-cotrack/images/episode_1128/frame_0164.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the purple object from the table and put it in the bowl; Pick up the purple object and put it in the bowl; Put the grape in the white dish?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the purple object from the table and put it in the bowl; Pick up the purple object and put it in the bowl; Put the grape in the white dish, execute the following phases: 1) Initial approach phase (start at [0.660, 0.663]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.533, 0.487]). The trajectory involves 165 precise waypoints with total movement distance of 0.563." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1128", "trajectory_length": 165, "key_frame_indices": [ 0, 130, 164 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1128.json" } }, { "id": "droid_cotrack_episode_1784", "task": "Lean the metal object on the right against the wall", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1784/frame_0000.jpg", "droid-cotrack/images/episode_1784/frame_0087.jpg", "droid-cotrack/images/episode_1784/frame_0260.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Lean the metal object on the right against the wall?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Lean the metal object on the right against the wall, execute the following phases: 1) Initial approach phase (start at [0.626, 0.779]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.624, 0.769]). The trajectory involves 261 precise waypoints with total movement distance of 0.207." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1784", "trajectory_length": 261, "key_frame_indices": [ 0, 87, 260 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1784.json" } }, { "id": "droid_cotrack_episode_6483", "task": "Remove the marker and put it on the left table; Take the marker from the cup and place it on the table; Move the pen from the cup to the table on the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6483/frame_0000.jpg", "droid-cotrack/images/episode_6483/frame_0038.jpg", "droid-cotrack/images/episode_6483/frame_0148.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker and put it on the left table; Take the marker from the cup and place it on the table; Move the pen from the cup to the table on the left?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the marker and put it on the left table; Take the marker from the cup and place it on the table; Move the pen from the cup to the table on the left, execute the following phases: 1) Initial approach phase (start at [0.592, 0.656]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.593, 0.658]). The trajectory involves 149 precise waypoints with total movement distance of 0.066." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6483", "trajectory_length": 149, "key_frame_indices": [ 0, 38, 148 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6483.json" } }, { "id": "droid_cotrack_episode_432", "task": "Move the pumpkin to the right; Move the pumpkin to the right; Move the pumpkin to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_432/frame_0000.jpg", "droid-cotrack/images/episode_432/frame_0140.jpg", "droid-cotrack/images/episode_432/frame_0247.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the pumpkin to the right; Move the pumpkin to the right; Move the pumpkin to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the pumpkin to the right; Move the pumpkin to the right; Move the pumpkin to the right, execute the following phases: 1) Initial approach phase (start at [0.369, 0.442]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.297]). The trajectory involves 248 precise waypoints with total movement distance of 0.840." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_432", "trajectory_length": 248, "key_frame_indices": [ 0, 140, 247 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_432.json" } }, { "id": "droid_cotrack_episode_4312", "task": "Put the black lid on the mouthwash bottle; Put the black cap on the mouthwash; Cover the bottle", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4312/frame_0000.jpg", "droid-cotrack/images/episode_4312/frame_0053.jpg", "droid-cotrack/images/episode_4312/frame_0203.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the black lid on the mouthwash bottle; Put the black cap on the mouthwash; Cover the bottle?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the black lid on the mouthwash bottle; Put the black cap on the mouthwash; Cover the bottle, execute the following phases: 1) Initial approach phase (start at [0.545, 0.567]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.589, 0.350]). The trajectory involves 204 precise waypoints with total movement distance of 0.515." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4312", "trajectory_length": 204, "key_frame_indices": [ 0, 53, 203 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4312.json" } }, { "id": "droid_cotrack_episode_10219", "task": "Press the button atop the lid and then put the lid on the table; Pick up the white lid from the bowl and put it on the table; Pick up the white lid from the container and put it on the table.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10219/frame_0000.jpg", "droid-cotrack/images/episode_10219/frame_0364.jpg", "droid-cotrack/images/episode_10219/frame_0398.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Press the button atop the lid and then put the lid on the table; Pick up the white lid from the bowl and put it on the table; Pick up the white lid from the container and put it on the table.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Press the button atop the lid and then put the lid on the table; Pick up the white lid from the bowl and put it on the table; Pick up the white lid from the container and put it on the table., execute the following phases: 1) Initial approach phase (start at [0.665, 0.567]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.736, 0.546]). The trajectory involves 399 precise waypoints with total movement distance of 1.150." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10219", "trajectory_length": 399, "key_frame_indices": [ 0, 364, 398 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10219.json" } }, { "id": "droid_cotrack_episode_272", "task": "Hang the orange clothing on the back of the chair; Move the cloth to the head rest of the chair; Hang the orange cloth on the backrest of the chair.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_272/frame_0000.jpg", "droid-cotrack/images/episode_272/frame_0097.jpg", "droid-cotrack/images/episode_272/frame_0242.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Hang the orange clothing on the back of the chair; Move the cloth to the head rest of the chair; Hang the orange cloth on the backrest of the chair.?" }, { "from": "gpt", "value": "To complete this repositioning: Hang the orange clothing on the back of the chair; Move the cloth to the head rest of the chair; Hang the orange cloth on the backrest of the chair., execute the following phases: 1) Initial approach phase (start at [0.751, 0.678]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.584, 0.778]). The trajectory involves 243 precise waypoints with total movement distance of 0.653." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_272", "trajectory_length": 243, "key_frame_indices": [ 0, 97, 242 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_272.json" } }, { "id": "droid_cotrack_episode_1331", "task": "Put the yellow block in the blue cup; Put the yellow block in the cup; Put the yellow block inside the blue cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1331/frame_0000.jpg", "droid-cotrack/images/episode_1331/frame_0051.jpg", "droid-cotrack/images/episode_1331/frame_0090.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the yellow block in the blue cup; Put the yellow block in the cup; Put the yellow block inside the blue cup?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the yellow block in the blue cup; Put the yellow block in the cup; Put the yellow block inside the blue cup, execute the following phases: 1) Initial approach phase (start at [0.487, 0.679]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.618, 0.491]). The trajectory involves 91 precise waypoints with total movement distance of 0.535." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1331", "trajectory_length": 91, "key_frame_indices": [ 0, 51, 90 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1331.json" } }, { "id": "droid_cotrack_episode_6705", "task": "Pick up the book from the cabinet and put it by the window.; Put the paper on the window sill; Pick up the book from the cabinet and put it by the window.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6705/frame_0000.jpg", "droid-cotrack/images/episode_6705/frame_0140.jpg", "droid-cotrack/images/episode_6705/frame_0236.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the book from the cabinet and put it by the window.; Put the paper on the window sill; Pick up the book from the cabinet and put it by the window.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the book from the cabinet and put it by the window.; Put the paper on the window sill; Pick up the book from the cabinet and put it by the window., execute the following phases: 1) Initial approach phase (start at [0.470, 0.490]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.283, 0.390]). The trajectory involves 237 precise waypoints with total movement distance of 1.212." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6705", "trajectory_length": 237, "key_frame_indices": [ 0, 140, 236 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6705.json" } }, { "id": "droid_cotrack_episode_190", "task": "Open the tap", "selected_step": 1, "image": [ "droid-cotrack/images/episode_190/frame_0000.jpg", "droid-cotrack/images/episode_190/frame_0160.jpg", "droid-cotrack/images/episode_190/frame_0285.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the tap?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the tap, execute the following phases: 1) Initial approach phase (start at [0.440, 0.340]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.447, 0.339]). The trajectory involves 286 precise waypoints with total movement distance of 0.189." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_190", "trajectory_length": 286, "key_frame_indices": [ 0, 160, 285 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_190.json" } }, { "id": "droid_cotrack_episode_4093", "task": "Rotate the black object.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4093/frame_0000.jpg", "droid-cotrack/images/episode_4093/frame_0226.jpg", "droid-cotrack/images/episode_4093/frame_0497.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Rotate the black object.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Rotate the black object., execute the following phases: 1) Initial approach phase (start at [0.333, 0.630]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.329, 0.631]). The trajectory involves 499 precise waypoints with total movement distance of 0.242." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4093", "trajectory_length": 499, "key_frame_indices": [ 0, 226, 497 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4093.json" } }, { "id": "droid_cotrack_episode_6369", "task": "Push the third rod to the right; Move the foosball player dummies to the right; Push in the first right wooden handle", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6369/frame_0000.jpg", "droid-cotrack/images/episode_6369/frame_0104.jpg", "droid-cotrack/images/episode_6369/frame_0147.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the third rod to the right; Move the foosball player dummies to the right; Push in the first right wooden handle?" }, { "from": "gpt", "value": "To complete this repositioning: Push the third rod to the right; Move the foosball player dummies to the right; Push in the first right wooden handle, execute the following phases: 1) Initial approach phase (start at [0.585, 0.581]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.669, 0.585]). The trajectory involves 148 precise waypoints with total movement distance of 0.152." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6369", "trajectory_length": 148, "key_frame_indices": [ 0, 104, 147 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6369.json" } }, { "id": "droid_cotrack_episode_4241", "task": "Pick up the green grapes from the stove and place them inside the pot in the sink; Put the object in the pot in the sink; Pick up the green grapes from the stove and put them inside the pot in the sink", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4241/frame_0000.jpg", "droid-cotrack/images/episode_4241/frame_0176.jpg", "droid-cotrack/images/episode_4241/frame_0189.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the green grapes from the stove and place them inside the pot in the sink; Put the object in the pot in the sink; Pick up the green grapes from the stove and put them inside the pot in the sink?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the green grapes from the stove and place them inside the pot in the sink; Put the object in the pot in the sink; Pick up the green grapes from the stove and put them inside the pot in the sink, execute the following phases: 1) Initial approach phase (start at [0.536, 0.593]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.621, 0.715]). The trajectory involves 190 precise waypoints with total movement distance of 0.535." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4241", "trajectory_length": 190, "key_frame_indices": [ 0, 176, 189 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4241.json" } }, { "id": "droid_cotrack_episode_1637", "task": "Put the leopard print cloth on the backrest of the chair; Put the animal print cloth on the backrest of the chair; Take the animal print clothing out of the white storage bin and place it on the backrest of the grey chair.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1637/frame_0000.jpg", "droid-cotrack/images/episode_1637/frame_0106.jpg", "droid-cotrack/images/episode_1637/frame_0178.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the leopard print cloth on the backrest of the chair; Put the animal print cloth on the backrest of the chair; Take the animal print clothing out of the white storage bin and place it on the backrest of the grey chair.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the leopard print cloth on the backrest of the chair; Put the animal print cloth on the backrest of the chair; Take the animal print clothing out of the white storage bin and place it on the backrest of the grey chair., execute the following phases: 1) Initial approach phase (start at [0.674, 0.582]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.510, 0.678]). The trajectory involves 179 precise waypoints with total movement distance of 0.710." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1637", "trajectory_length": 179, "key_frame_indices": [ 0, 106, 178 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1637.json" } }, { "id": "droid_cotrack_episode_6824", "task": "Remove the glue stick from the open drawer and put it on the countertop; Remove the glue stick from the open drawer; Remove the glue stick from the drawer and place it on the counter top", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6824/frame_0000.jpg", "droid-cotrack/images/episode_6824/frame_0025.jpg", "droid-cotrack/images/episode_6824/frame_0172.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the glue stick from the open drawer and put it on the countertop; Remove the glue stick from the open drawer; Remove the glue stick from the drawer and place it on the counter top?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the glue stick from the open drawer and put it on the countertop; Remove the glue stick from the open drawer; Remove the glue stick from the drawer and place it on the counter top, execute the following phases: 1) Initial approach phase (start at [0.349, 0.296]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.387, 0.325]). The trajectory involves 173 precise waypoints with total movement distance of 0.196." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6824", "trajectory_length": 173, "key_frame_indices": [ 0, 25, 172 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6824.json" } }, { "id": "droid_cotrack_episode_6325", "task": "Close the coffee maker", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6325/frame_0000.jpg", "droid-cotrack/images/episode_6325/frame_0112.jpg", "droid-cotrack/images/episode_6325/frame_0144.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the coffee maker?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the coffee maker, execute the following phases: 1) Initial approach phase (start at [0.424, 0.028]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.505, 0.304]). The trajectory involves 145 precise waypoints with total movement distance of 0.389." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6325", "trajectory_length": 145, "key_frame_indices": [ 0, 112, 144 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6325.json" } }, { "id": "droid_cotrack_episode_4204", "task": "Press on the dishwasher", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4204/frame_0000.jpg", "droid-cotrack/images/episode_4204/frame_0232.jpg", "droid-cotrack/images/episode_4204/frame_0253.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Press on the dishwasher?" }, { "from": "gpt", "value": "To complete this button/switch activation: Press on the dishwasher, execute the following phases: 1) Initial approach phase (start at [0.687, 0.646]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.687, 0.648]). The trajectory involves 254 precise waypoints with total movement distance of 0.096." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4204", "trajectory_length": 254, "key_frame_indices": [ 0, 232, 253 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4204.json" } }, { "id": "droid_cotrack_episode_10086", "task": "Take the lid on the blue pot and place it on the black pot; Remove the lid from the blue pot and put it on top of the black pot; Take the lid from the blue pot and place it on the black pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10086/frame_0000.jpg", "droid-cotrack/images/episode_10086/frame_0129.jpg", "droid-cotrack/images/episode_10086/frame_0251.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the lid on the blue pot and place it on the black pot; Remove the lid from the blue pot and put it on top of the black pot; Take the lid from the blue pot and place it on the black pot?" }, { "from": "gpt", "value": "To complete this repositioning: Take the lid on the blue pot and place it on the black pot; Remove the lid from the blue pot and put it on top of the black pot; Take the lid from the blue pot and place it on the black pot, execute the following phases: 1) Initial approach phase (start at [0.605, 0.737]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.626, 0.720]). The trajectory involves 252 precise waypoints with total movement distance of 0.177." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10086", "trajectory_length": 252, "key_frame_indices": [ 0, 129, 251 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10086.json" } }, { "id": "droid_cotrack_episode_4481", "task": "Push the faucet to the center of the sink; Move the nozzle to the left; Move the spout to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4481/frame_0000.jpg", "droid-cotrack/images/episode_4481/frame_0187.jpg", "droid-cotrack/images/episode_4481/frame_0288.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the faucet to the center of the sink; Move the nozzle to the left; Move the spout to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Push the faucet to the center of the sink; Move the nozzle to the left; Move the spout to the left, execute the following phases: 1) Initial approach phase (start at [0.455, 0.558]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.454, 0.663]). The trajectory involves 289 precise waypoints with total movement distance of 0.353." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4481", "trajectory_length": 289, "key_frame_indices": [ 0, 187, 288 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4481.json" } }, { "id": "droid_cotrack_episode_1508", "task": "Place the candy in the blue cup on the left; Put the candy in the blue cup on the left; Put the candy in the blue cup on the left side of the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1508/frame_0000.jpg", "droid-cotrack/images/episode_1508/frame_0034.jpg", "droid-cotrack/images/episode_1508/frame_0128.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the candy in the blue cup on the left; Put the candy in the blue cup on the left; Put the candy in the blue cup on the left side of the table?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Place the candy in the blue cup on the left; Put the candy in the blue cup on the left; Put the candy in the blue cup on the left side of the table, execute the following phases: 1) Initial approach phase (start at [0.754, 0.748]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.754, 0.743]). The trajectory involves 129 precise waypoints with total movement distance of 0.071." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1508", "trajectory_length": 129, "key_frame_indices": [ 0, 34, 128 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1508.json" } }, { "id": "droid_cotrack_episode_4071", "task": "Remove the black clothing from the topmost drawer on the left and put it inside the topmost drawer on the right; Move an object from the top left drawer to the top right drawer; Move the black cloth from the left top drawer to the right top drawer", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4071/frame_0000.jpg", "droid-cotrack/images/episode_4071/frame_0104.jpg", "droid-cotrack/images/episode_4071/frame_0196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the black clothing from the topmost drawer on the left and put it inside the topmost drawer on the right; Move an object from the top left drawer to the top right drawer; Move the black cloth from the left top drawer to the right top drawer?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the black clothing from the topmost drawer on the left and put it inside the topmost drawer on the right; Move an object from the top left drawer to the top right drawer; Move the black cloth from the left top drawer to the right top drawer, execute the following phases: 1) Initial approach phase (start at [0.595, 0.516]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.595, 0.519]). The trajectory involves 197 precise waypoints with total movement distance of 0.123." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4071", "trajectory_length": 197, "key_frame_indices": [ 0, 104, 196 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4071.json" } }, { "id": "droid_cotrack_episode_375", "task": "Move the blue block to the left; Move the blue block to the left; Shift the blue block to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_375/frame_0000.jpg", "droid-cotrack/images/episode_375/frame_0073.jpg", "droid-cotrack/images/episode_375/frame_0096.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the blue block to the left; Move the blue block to the left; Shift the blue block to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the blue block to the left; Move the blue block to the left; Shift the blue block to the left, execute the following phases: 1) Initial approach phase (start at [0.727, 0.542]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.624, 0.454]). The trajectory involves 97 precise waypoints with total movement distance of 0.183." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_375", "trajectory_length": 97, "key_frame_indices": [ 0, 73, 96 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_375.json" } }, { "id": "droid_cotrack_episode_1213", "task": "Take the box out of the clear container.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1213/frame_0000.jpg", "droid-cotrack/images/episode_1213/frame_0248.jpg", "droid-cotrack/images/episode_1213/frame_0284.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the box out of the clear container.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Take the box out of the clear container., execute the following phases: 1) Initial approach phase (start at [0.640, 0.480]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.643, 0.482]). The trajectory involves 285 precise waypoints with total movement distance of 0.156." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1213", "trajectory_length": 285, "key_frame_indices": [ 0, 248, 284 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1213.json" } }, { "id": "droid_cotrack_episode_1954", "task": "Put the marker in the cup; Pick up the marker from the table and put it in the cup; Pick up the marker and put it in the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1954/frame_0000.jpg", "droid-cotrack/images/episode_1954/frame_0108.jpg", "droid-cotrack/images/episode_1954/frame_0232.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the cup; Pick up the marker from the table and put it in the cup; Pick up the marker and put it in the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the marker in the cup; Pick up the marker from the table and put it in the cup; Pick up the marker and put it in the cup, execute the following phases: 1) Initial approach phase (start at [0.475, 0.706]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.525, 0.437]). The trajectory involves 233 precise waypoints with total movement distance of 0.973." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1954", "trajectory_length": 233, "key_frame_indices": [ 0, 108, 232 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1954.json" } }, { "id": "droid_cotrack_episode_1336", "task": "Put a fork in the utensil holder; Put one fork in the black rack; Pick up the folk and put it in the black object", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1336/frame_0000.jpg", "droid-cotrack/images/episode_1336/frame_0034.jpg", "droid-cotrack/images/episode_1336/frame_0184.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put a fork in the utensil holder; Put one fork in the black rack; Pick up the folk and put it in the black object?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put a fork in the utensil holder; Put one fork in the black rack; Pick up the folk and put it in the black object, execute the following phases: 1) Initial approach phase (start at [0.670, 0.594]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.669, 0.591]). The trajectory involves 185 precise waypoints with total movement distance of 0.082." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1336", "trajectory_length": 185, "key_frame_indices": [ 0, 34, 184 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1336.json" } }, { "id": "droid_cotrack_episode_6416", "task": "Close the oven", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6416/frame_0000.jpg", "droid-cotrack/images/episode_6416/frame_0086.jpg", "droid-cotrack/images/episode_6416/frame_0171.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the oven?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the oven, execute the following phases: 1) Initial approach phase (start at [0.550, 0.576]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.512, 0.341]). The trajectory involves 172 precise waypoints with total movement distance of 0.351." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6416", "trajectory_length": 172, "key_frame_indices": [ 0, 86, 171 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6416.json" } }, { "id": "droid_cotrack_episode_1812", "task": "Pour the things in the metal bowl into the red bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1812/frame_0000.jpg", "droid-cotrack/images/episode_1812/frame_0310.jpg", "droid-cotrack/images/episode_1812/frame_0398.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour the things in the metal bowl into the red bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Pour the things in the metal bowl into the red bowl, execute the following phases: 1) Initial approach phase (start at [0.637, 0.485]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.592, 0.513]). The trajectory involves 399 precise waypoints with total movement distance of 0.240." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1812", "trajectory_length": 399, "key_frame_indices": [ 0, 310, 398 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1812.json" } }, { "id": "droid_cotrack_episode_231", "task": "Pick the pen and put it in the cup; Put the marker in the cup; Put the marker in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_231/frame_0000.jpg", "droid-cotrack/images/episode_231/frame_0191.jpg", "droid-cotrack/images/episode_231/frame_0248.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the pen and put it in the cup; Put the marker in the cup; Put the marker in the bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the pen and put it in the cup; Put the marker in the cup; Put the marker in the bowl, execute the following phases: 1) Initial approach phase (start at [0.749, 0.593]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.785, 0.613]). The trajectory involves 249 precise waypoints with total movement distance of 0.372." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_231", "trajectory_length": 249, "key_frame_indices": [ 0, 191, 248 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_231.json" } }, { "id": "droid_cotrack_episode_396", "task": "Remove the mug from the sink and place it on the counter.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_396/frame_0000.jpg", "droid-cotrack/images/episode_396/frame_0154.jpg", "droid-cotrack/images/episode_396/frame_0206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the mug from the sink and place it on the counter.?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the mug from the sink and place it on the counter., execute the following phases: 1) Initial approach phase (start at [0.501, 0.496]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.615, 0.381]). The trajectory involves 207 precise waypoints with total movement distance of 0.340." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_396", "trajectory_length": 207, "key_frame_indices": [ 0, 154, 206 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_396.json" } }, { "id": "droid_cotrack_episode_152", "task": "Pick up the blue cup and put it on top of the cabinet", "selected_step": 1, "image": [ "droid-cotrack/images/episode_152/frame_0000.jpg", "droid-cotrack/images/episode_152/frame_0092.jpg", "droid-cotrack/images/episode_152/frame_0136.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the blue cup and put it on top of the cabinet?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the blue cup and put it on top of the cabinet, execute the following phases: 1) Initial approach phase (start at [0.652, 0.410]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.663, 0.139]). The trajectory involves 137 precise waypoints with total movement distance of 0.795." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_152", "trajectory_length": 137, "key_frame_indices": [ 0, 92, 136 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_152.json" } }, { "id": "droid_cotrack_episode_10279", "task": "Put the blue cup in the orange cup; Pick up the blue cup and put it in the orange cup; Pick up the blue cup and put it in the orange cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10279/frame_0000.jpg", "droid-cotrack/images/episode_10279/frame_0071.jpg", "droid-cotrack/images/episode_10279/frame_0163.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the blue cup in the orange cup; Pick up the blue cup and put it in the orange cup; Pick up the blue cup and put it in the orange cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the blue cup in the orange cup; Pick up the blue cup and put it in the orange cup; Pick up the blue cup and put it in the orange cup, execute the following phases: 1) Initial approach phase (start at [0.551, 0.674]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.573, 0.608]). The trajectory involves 164 precise waypoints with total movement distance of 0.333." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10279", "trajectory_length": 164, "key_frame_indices": [ 0, 71, 163 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10279.json" } }, { "id": "droid_cotrack_episode_1036", "task": "Move the book to the left; Move the white and green book on the desk to the left side.; Move the book", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1036/frame_0000.jpg", "droid-cotrack/images/episode_1036/frame_0130.jpg", "droid-cotrack/images/episode_1036/frame_0190.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the book to the left; Move the white and green book on the desk to the left side.; Move the book?" }, { "from": "gpt", "value": "To complete this repositioning: Move the book to the left; Move the white and green book on the desk to the left side.; Move the book, execute the following phases: 1) Initial approach phase (start at [0.724, 0.564]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.685, 0.868]). The trajectory involves 191 precise waypoints with total movement distance of 0.847." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1036", "trajectory_length": 191, "key_frame_indices": [ 0, 130, 190 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1036.json" } }, { "id": "droid_cotrack_episode_6817", "task": "Pick the pen on the block and put it on the table; Remove the black object from the top of the green cube and put it on the table; Pick up the pen from the green block and place it on the table.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6817/frame_0000.jpg", "droid-cotrack/images/episode_6817/frame_0294.jpg", "droid-cotrack/images/episode_6817/frame_0370.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the pen on the block and put it on the table; Remove the black object from the top of the green cube and put it on the table; Pick up the pen from the green block and place it on the table.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the pen on the block and put it on the table; Remove the black object from the top of the green cube and put it on the table; Pick up the pen from the green block and place it on the table., execute the following phases: 1) Initial approach phase (start at [0.734, 0.173]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.544, 0.373]). The trajectory involves 371 precise waypoints with total movement distance of 1.205." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6817", "trajectory_length": 371, "key_frame_indices": [ 0, 294, 370 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6817.json" } }, { "id": "droid_cotrack_episode_1211", "task": "Pick up the marker from the cup and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1211/frame_0000.jpg", "droid-cotrack/images/episode_1211/frame_0026.jpg", "droid-cotrack/images/episode_1211/frame_0184.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the marker from the cup and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the marker from the cup and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.616, 0.281]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.565, 0.713]). The trajectory involves 185 precise waypoints with total movement distance of 1.144." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1211", "trajectory_length": 185, "key_frame_indices": [ 0, 26, 184 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1211.json" } }, { "id": "droid_cotrack_episode_1070", "task": "Place the pen inside the yellow mug; Put the marker in the cup; Put the pen in the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1070/frame_0000.jpg", "droid-cotrack/images/episode_1070/frame_0130.jpg", "droid-cotrack/images/episode_1070/frame_0197.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the pen inside the yellow mug; Put the marker in the cup; Put the pen in the cup?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Place the pen inside the yellow mug; Put the marker in the cup; Put the pen in the cup, execute the following phases: 1) Initial approach phase (start at [0.704, 0.439]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.707, 0.436]). The trajectory involves 198 precise waypoints with total movement distance of 0.156." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1070", "trajectory_length": 198, "key_frame_indices": [ 0, 130, 197 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1070.json" } }, { "id": "droid_cotrack_episode_6487", "task": "Move the snack pack to the right; Move the plastic bag backward slightly to the right; Move the packet to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6487/frame_0000.jpg", "droid-cotrack/images/episode_6487/frame_0131.jpg", "droid-cotrack/images/episode_6487/frame_0156.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the snack pack to the right; Move the plastic bag backward slightly to the right; Move the packet to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the snack pack to the right; Move the plastic bag backward slightly to the right; Move the packet to the right, execute the following phases: 1) Initial approach phase (start at [0.417, 0.529]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.539, 0.485]). The trajectory involves 157 precise waypoints with total movement distance of 0.215." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6487", "trajectory_length": 157, "key_frame_indices": [ 0, 131, 156 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6487.json" } }, { "id": "droid_cotrack_episode_6407", "task": "Move the paper plates", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6407/frame_0000.jpg", "droid-cotrack/images/episode_6407/frame_0097.jpg", "droid-cotrack/images/episode_6407/frame_0226.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the paper plates?" }, { "from": "gpt", "value": "To complete this repositioning: Move the paper plates, execute the following phases: 1) Initial approach phase (start at [0.528, 0.687]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.556, 0.476]). The trajectory involves 227 precise waypoints with total movement distance of 0.797." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6407", "trajectory_length": 227, "key_frame_indices": [ 0, 97, 226 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6407.json" } }, { "id": "droid_cotrack_episode_4405", "task": "Pick up the knife from the drying rack and place it on top of the spoon", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4405/frame_0000.jpg", "droid-cotrack/images/episode_4405/frame_0157.jpg", "droid-cotrack/images/episode_4405/frame_0259.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the knife from the drying rack and place it on top of the spoon?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the knife from the drying rack and place it on top of the spoon, execute the following phases: 1) Initial approach phase (start at [0.570, 0.354]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.572, 0.367]). The trajectory involves 260 precise waypoints with total movement distance of 0.320." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4405", "trajectory_length": 260, "key_frame_indices": [ 0, 157, 259 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4405.json" } }, { "id": "droid_cotrack_episode_4485", "task": "Move the bottle forward; Move the bottle; Move the white bottle to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4485/frame_0000.jpg", "droid-cotrack/images/episode_4485/frame_0117.jpg", "droid-cotrack/images/episode_4485/frame_0160.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bottle forward; Move the bottle; Move the white bottle to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bottle forward; Move the bottle; Move the white bottle to the right, execute the following phases: 1) Initial approach phase (start at [0.572, 0.428]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.717, 0.514]). The trajectory involves 161 precise waypoints with total movement distance of 0.264." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4485", "trajectory_length": 161, "key_frame_indices": [ 0, 117, 160 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4485.json" } }, { "id": "droid_cotrack_episode_1454", "task": "Put a jar on the stove", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1454/frame_0000.jpg", "droid-cotrack/images/episode_1454/frame_0195.jpg", "droid-cotrack/images/episode_1454/frame_0338.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put a jar on the stove?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put a jar on the stove, execute the following phases: 1) Initial approach phase (start at [0.644, 0.533]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.597, 0.934]). The trajectory involves 339 precise waypoints with total movement distance of 1.367." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1454", "trajectory_length": 339, "key_frame_indices": [ 0, 195, 338 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1454.json" } }, { "id": "droid_cotrack_episode_1654", "task": "Pick up the black towel from the sitting base and put it on the chair back of the chair.; Hang the brown towel on the backrest of the chair; Put the grey towel on the back of the chair", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1654/frame_0000.jpg", "droid-cotrack/images/episode_1654/frame_0172.jpg", "droid-cotrack/images/episode_1654/frame_0287.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the black towel from the sitting base and put it on the chair back of the chair.; Hang the brown towel on the backrest of the chair; Put the grey towel on the back of the chair?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the black towel from the sitting base and put it on the chair back of the chair.; Hang the brown towel on the backrest of the chair; Put the grey towel on the back of the chair, execute the following phases: 1) Initial approach phase (start at [0.549, 0.709]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.512, 0.514]). The trajectory involves 288 precise waypoints with total movement distance of 1.448." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1654", "trajectory_length": 288, "key_frame_indices": [ 0, 172, 287 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1654.json" } }, { "id": "droid_cotrack_episode_4453", "task": "Push down the lever on the toaster; Push the lever on the toaster downwards; Push down the lever on the toaster", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4453/frame_0000.jpg", "droid-cotrack/images/episode_4453/frame_0079.jpg", "droid-cotrack/images/episode_4453/frame_0130.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push down the lever on the toaster; Push the lever on the toaster downwards; Push down the lever on the toaster?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push down the lever on the toaster; Push the lever on the toaster downwards; Push down the lever on the toaster, execute the following phases: 1) Initial approach phase (start at [0.564, 0.426]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.563, 0.425]). The trajectory involves 131 precise waypoints with total movement distance of 0.075." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4453", "trajectory_length": 131, "key_frame_indices": [ 0, 79, 130 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4453.json" } }, { "id": "droid_cotrack_episode_318", "task": "Put the lid over the silver pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_318/frame_0000.jpg", "droid-cotrack/images/episode_318/frame_0128.jpg", "droid-cotrack/images/episode_318/frame_0188.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the lid over the silver pot?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the lid over the silver pot, execute the following phases: 1) Initial approach phase (start at [0.420, 0.567]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.420, 0.567]). The trajectory involves 189 precise waypoints with total movement distance of 0.197." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_318", "trajectory_length": 189, "key_frame_indices": [ 0, 128, 188 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_318.json" } }, { "id": "droid_cotrack_episode_1758", "task": "Put the bottle on the stand", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1758/frame_0000.jpg", "droid-cotrack/images/episode_1758/frame_0082.jpg", "droid-cotrack/images/episode_1758/frame_0228.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the bottle on the stand?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the bottle on the stand, execute the following phases: 1) Initial approach phase (start at [0.380, 0.945]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.512, 0.500]). The trajectory involves 229 precise waypoints with total movement distance of 0.902." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1758", "trajectory_length": 229, "key_frame_indices": [ 0, 82, 228 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1758.json" } }, { "id": "droid_cotrack_episode_6281", "task": "Push down on the black object", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6281/frame_0000.jpg", "droid-cotrack/images/episode_6281/frame_0016.jpg", "droid-cotrack/images/episode_6281/frame_0159.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push down on the black object?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push down on the black object, execute the following phases: 1) Initial approach phase (start at [0.731, 0.962]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.731, 0.962]). The trajectory involves 160 precise waypoints with total movement distance of 0.051." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6281", "trajectory_length": 160, "key_frame_indices": [ 0, 16, 159 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6281.json" } }, { "id": "droid_cotrack_episode_4148", "task": "Pick the object and place it in the blue cup on the left; Put the cube in the cup; Put the silver thing in the light blue cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4148/frame_0000.jpg", "droid-cotrack/images/episode_4148/frame_0057.jpg", "droid-cotrack/images/episode_4148/frame_0106.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the object and place it in the blue cup on the left; Put the cube in the cup; Put the silver thing in the light blue cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the object and place it in the blue cup on the left; Put the cube in the cup; Put the silver thing in the light blue cup, execute the following phases: 1) Initial approach phase (start at [0.619, 0.655]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.616, 0.656]). The trajectory involves 107 precise waypoints with total movement distance of 0.045." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4148", "trajectory_length": 107, "key_frame_indices": [ 0, 57, 106 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4148.json" } }, { "id": "droid_cotrack_episode_6626", "task": "Put the marker in the bowl; Pick up the marker from the table and put it in the bowl; Put the marker in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6626/frame_0000.jpg", "droid-cotrack/images/episode_6626/frame_0058.jpg", "droid-cotrack/images/episode_6626/frame_0093.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the bowl; Pick up the marker from the table and put it in the bowl; Put the marker in the bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the marker in the bowl; Pick up the marker from the table and put it in the bowl; Put the marker in the bowl, execute the following phases: 1) Initial approach phase (start at [0.561, 0.618]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.522, 0.535]). The trajectory involves 94 precise waypoints with total movement distance of 0.276." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6626", "trajectory_length": 94, "key_frame_indices": [ 0, 58, 93 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6626.json" } }, { "id": "droid_cotrack_episode_6732", "task": "Open the mini oven", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6732/frame_0000.jpg", "droid-cotrack/images/episode_6732/frame_0122.jpg", "droid-cotrack/images/episode_6732/frame_0256.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the mini oven?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the mini oven, execute the following phases: 1) Initial approach phase (start at [0.394, 0.643]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.391, 0.644]). The trajectory involves 257 precise waypoints with total movement distance of 0.127." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6732", "trajectory_length": 257, "key_frame_indices": [ 0, 122, 256 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6732.json" } }, { "id": "droid_cotrack_episode_1087", "task": "Take the marker from the cup and put it on the table; Take the red marker out of the white mug; Pick up the marker from the cup and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1087/frame_0000.jpg", "droid-cotrack/images/episode_1087/frame_0240.jpg", "droid-cotrack/images/episode_1087/frame_0257.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the marker from the cup and put it on the table; Take the red marker out of the white mug; Pick up the marker from the cup and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Take the marker from the cup and put it on the table; Take the red marker out of the white mug; Pick up the marker from the cup and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.562, 0.545]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.561, 0.547]). The trajectory involves 258 precise waypoints with total movement distance of 0.128." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1087", "trajectory_length": 258, "key_frame_indices": [ 0, 240, 257 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1087.json" } }, { "id": "droid_cotrack_episode_4544", "task": "Open the left first top drawer; Open the top drawer to the left; Open the drawer", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4544/frame_0000.jpg", "droid-cotrack/images/episode_4544/frame_0479.jpg", "droid-cotrack/images/episode_4544/frame_0533.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the left first top drawer; Open the top drawer to the left; Open the drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the left first top drawer; Open the top drawer to the left; Open the drawer, execute the following phases: 1) Initial approach phase (start at [0.386, 0.753]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.459, 0.972]). The trajectory involves 534 precise waypoints with total movement distance of 0.534." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4544", "trajectory_length": 534, "key_frame_indices": [ 0, 479, 533 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4544.json" } }, { "id": "droid_cotrack_episode_48", "task": "Close the top left drawer; Close the top drawer on the left; Close the top drawer", "selected_step": 1, "image": [ "droid-cotrack/images/episode_48/frame_0000.jpg", "droid-cotrack/images/episode_48/frame_0095.jpg", "droid-cotrack/images/episode_48/frame_0109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the top left drawer; Close the top drawer on the left; Close the top drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the top left drawer; Close the top drawer on the left; Close the top drawer, execute the following phases: 1) Initial approach phase (start at [0.655, 0.558]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.452, 0.499]). The trajectory involves 110 precise waypoints with total movement distance of 0.264." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_48", "trajectory_length": 110, "key_frame_indices": [ 0, 95, 109 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_48.json" } }, { "id": "droid_cotrack_episode_4224", "task": "Pull out some face masks from the box; Pick up some of the musk from the box and put them on the bed; Pick up the masks from the box and put them on the bed.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4224/frame_0000.jpg", "droid-cotrack/images/episode_4224/frame_0232.jpg", "droid-cotrack/images/episode_4224/frame_0277.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pull out some face masks from the box; Pick up some of the musk from the box and put them on the bed; Pick up the masks from the box and put them on the bed.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pull out some face masks from the box; Pick up some of the musk from the box and put them on the bed; Pick up the masks from the box and put them on the bed., execute the following phases: 1) Initial approach phase (start at [0.537, 0.541]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.660, 0.882]). The trajectory involves 278 precise waypoints with total movement distance of 1.607." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4224", "trajectory_length": 278, "key_frame_indices": [ 0, 232, 277 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4224.json" } }, { "id": "droid_cotrack_episode_59", "task": "Put the bottle on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_59/frame_0000.jpg", "droid-cotrack/images/episode_59/frame_0089.jpg", "droid-cotrack/images/episode_59/frame_0141.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the bottle on the table?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the bottle on the table, execute the following phases: 1) Initial approach phase (start at [0.396, 0.562]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.471, 0.652]). The trajectory involves 142 precise waypoints with total movement distance of 0.426." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_59", "trajectory_length": 142, "key_frame_indices": [ 0, 89, 141 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_59.json" } }, { "id": "droid_cotrack_episode_4368", "task": "Remove the tomato from the black pot and put it on the table; Take the tomato out of the pot and put it on the table; Pick up the tomato toy from the black pot and put it on the table.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4368/frame_0000.jpg", "droid-cotrack/images/episode_4368/frame_0093.jpg", "droid-cotrack/images/episode_4368/frame_0161.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the tomato from the black pot and put it on the table; Take the tomato out of the pot and put it on the table; Pick up the tomato toy from the black pot and put it on the table.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Remove the tomato from the black pot and put it on the table; Take the tomato out of the pot and put it on the table; Pick up the tomato toy from the black pot and put it on the table., execute the following phases: 1) Initial approach phase (start at [0.583, 0.487]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.468, 0.488]). The trajectory involves 162 precise waypoints with total movement distance of 0.581." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4368", "trajectory_length": 162, "key_frame_indices": [ 0, 93, 161 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4368.json" } }, { "id": "droid_cotrack_episode_58", "task": "Slide the towel to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_58/frame_0000.jpg", "droid-cotrack/images/episode_58/frame_0092.jpg", "droid-cotrack/images/episode_58/frame_0106.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the towel to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the towel to the right, execute the following phases: 1) Initial approach phase (start at [0.532, 0.393]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.646, 0.526]). The trajectory involves 107 precise waypoints with total movement distance of 0.201." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_58", "trajectory_length": 107, "key_frame_indices": [ 0, 92, 106 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_58.json" } }, { "id": "droid_cotrack_episode_1916", "task": "Remove the pen from the mug cup; Take the pen out of the mug and put it on the table; Remove the pen from the mug and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1916/frame_0000.jpg", "droid-cotrack/images/episode_1916/frame_0080.jpg", "droid-cotrack/images/episode_1916/frame_0116.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the pen from the mug cup; Take the pen out of the mug and put it on the table; Remove the pen from the mug and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the pen from the mug cup; Take the pen out of the mug and put it on the table; Remove the pen from the mug and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.514, 0.361]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.490, 0.400]). The trajectory involves 117 precise waypoints with total movement distance of 0.347." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1916", "trajectory_length": 117, "key_frame_indices": [ 0, 80, 116 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1916.json" } }, { "id": "droid_cotrack_episode_10129", "task": "Pick up the orange object and put it in the blue object", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10129/frame_0000.jpg", "droid-cotrack/images/episode_10129/frame_0288.jpg", "droid-cotrack/images/episode_10129/frame_0424.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the orange object and put it in the blue object?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the orange object and put it in the blue object, execute the following phases: 1) Initial approach phase (start at [0.568, 0.805]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.576, 0.806]). The trajectory involves 425 precise waypoints with total movement distance of 0.196." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10129", "trajectory_length": 425, "key_frame_indices": [ 0, 288, 424 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10129.json" } }, { "id": "droid_cotrack_episode_520", "task": "Pour the contents of the left silver bowl into the right silver bowl; Pour the contents from the left silver bowl into the right silver bowl; Transfer the contents in the bowl to another one", "selected_step": 1, "image": [ "droid-cotrack/images/episode_520/frame_0000.jpg", "droid-cotrack/images/episode_520/frame_0136.jpg", "droid-cotrack/images/episode_520/frame_0334.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour the contents of the left silver bowl into the right silver bowl; Pour the contents from the left silver bowl into the right silver bowl; Transfer the contents in the bowl to another one?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Pour the contents of the left silver bowl into the right silver bowl; Pour the contents from the left silver bowl into the right silver bowl; Transfer the contents in the bowl to another one, execute the following phases: 1) Initial approach phase (start at [0.475, 0.624]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.487, 0.616]). The trajectory involves 335 precise waypoints with total movement distance of 0.592." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_520", "trajectory_length": 335, "key_frame_indices": [ 0, 136, 334 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_520.json" } }, { "id": "droid_cotrack_episode_6659", "task": "Slide the green cloth to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6659/frame_0000.jpg", "droid-cotrack/images/episode_6659/frame_0083.jpg", "droid-cotrack/images/episode_6659/frame_0098.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the green cloth to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the green cloth to the left, execute the following phases: 1) Initial approach phase (start at [0.527, 0.703]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.485, 0.568]). The trajectory involves 99 precise waypoints with total movement distance of 0.203." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6659", "trajectory_length": 99, "key_frame_indices": [ 0, 83, 98 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6659.json" } }, { "id": "droid_cotrack_episode_1453", "task": "Take the orange object and put it in the sink; Get the orange object from the right of the sink and put it in the sink; Move the orange object to the sink", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1453/frame_0000.jpg", "droid-cotrack/images/episode_1453/frame_0120.jpg", "droid-cotrack/images/episode_1453/frame_0231.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the orange object and put it in the sink; Get the orange object from the right of the sink and put it in the sink; Move the orange object to the sink?" }, { "from": "gpt", "value": "To complete this repositioning: Take the orange object and put it in the sink; Get the orange object from the right of the sink and put it in the sink; Move the orange object to the sink, execute the following phases: 1) Initial approach phase (start at [0.781, 0.928]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.719, 0.934]). The trajectory involves 232 precise waypoints with total movement distance of 0.196." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1453", "trajectory_length": 232, "key_frame_indices": [ 0, 120, 231 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1453.json" } }, { "id": "droid_cotrack_episode_1550", "task": "Move the towel", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1550/frame_0000.jpg", "droid-cotrack/images/episode_1550/frame_0090.jpg", "droid-cotrack/images/episode_1550/frame_0103.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the towel?" }, { "from": "gpt", "value": "To complete this repositioning: Move the towel, execute the following phases: 1) Initial approach phase (start at [0.496, 0.426]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.641, 0.552]). The trajectory involves 104 precise waypoints with total movement distance of 0.240." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1550", "trajectory_length": 104, "key_frame_indices": [ 0, 90, 103 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1550.json" } }, { "id": "droid_cotrack_episode_1226", "task": "Fold the towel from top to bottom.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1226/frame_0000.jpg", "droid-cotrack/images/episode_1226/frame_0133.jpg", "droid-cotrack/images/episode_1226/frame_0269.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the towel from top to bottom.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Fold the towel from top to bottom., execute the following phases: 1) Initial approach phase (start at [0.677, 0.651]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.695, 0.656]). The trajectory involves 270 precise waypoints with total movement distance of 0.175." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1226", "trajectory_length": 270, "key_frame_indices": [ 0, 133, 269 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1226.json" } }, { "id": "droid_cotrack_episode_1055", "task": "Pick the stuffed octopus and put it adjacent to the monitor; Move the pink octopus to the right side of the desk; Move the pink toy to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1055/frame_0000.jpg", "droid-cotrack/images/episode_1055/frame_0068.jpg", "droid-cotrack/images/episode_1055/frame_0147.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the stuffed octopus and put it adjacent to the monitor; Move the pink octopus to the right side of the desk; Move the pink toy to the right?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the stuffed octopus and put it adjacent to the monitor; Move the pink octopus to the right side of the desk; Move the pink toy to the right, execute the following phases: 1) Initial approach phase (start at [0.414, 0.848]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.561, 0.521]). The trajectory involves 148 precise waypoints with total movement distance of 0.695." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1055", "trajectory_length": 148, "key_frame_indices": [ 0, 68, 147 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1055.json" } }, { "id": "droid_cotrack_episode_1225", "task": "Put the small item into the pink bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1225/frame_0000.jpg", "droid-cotrack/images/episode_1225/frame_0120.jpg", "droid-cotrack/images/episode_1225/frame_0184.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the small item into the pink bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the small item into the pink bowl, execute the following phases: 1) Initial approach phase (start at [0.522, 0.771]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.531, 0.758]). The trajectory involves 185 precise waypoints with total movement distance of 0.106." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1225", "trajectory_length": 185, "key_frame_indices": [ 0, 120, 184 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1225.json" } }, { "id": "droid_cotrack_episode_2141", "task": "Pick up the paper from the countertop and put it in the black waste bin; Take the paper and put it in the bin; Pick up the paper from the countertop and place it in the black bin", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2141/frame_0000.jpg", "droid-cotrack/images/episode_2141/frame_0076.jpg", "droid-cotrack/images/episode_2141/frame_0125.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the paper from the countertop and put it in the black waste bin; Take the paper and put it in the bin; Pick up the paper from the countertop and place it in the black bin?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the paper from the countertop and put it in the black waste bin; Take the paper and put it in the bin; Pick up the paper from the countertop and place it in the black bin, execute the following phases: 1) Initial approach phase (start at [0.458, 0.285]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.480, 0.184]). The trajectory involves 126 precise waypoints with total movement distance of 0.406." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2141", "trajectory_length": 126, "key_frame_indices": [ 0, 76, 125 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2141.json" } }, { "id": "droid_cotrack_episode_10317", "task": "Pick up the bottle from the bowl and put it in the first segment of the tray; Pick up a vial and place it in the wooden tray; Remove the bottle from the box and put it on the tray", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10317/frame_0000.jpg", "droid-cotrack/images/episode_10317/frame_0144.jpg", "droid-cotrack/images/episode_10317/frame_0298.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the bottle from the bowl and put it in the first segment of the tray; Pick up a vial and place it in the wooden tray; Remove the bottle from the box and put it on the tray?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the bottle from the bowl and put it in the first segment of the tray; Pick up a vial and place it in the wooden tray; Remove the bottle from the box and put it on the tray, execute the following phases: 1) Initial approach phase (start at [0.718, 0.762]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.720, 0.760]). The trajectory involves 299 precise waypoints with total movement distance of 0.117." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10317", "trajectory_length": 299, "key_frame_indices": [ 0, 144, 298 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10317.json" } }, { "id": "droid_cotrack_episode_2091", "task": "Take the fleece from the back of the chair and place it on the seat; Remove the thing from the backrest of the chair and put it on the seat; Take the fleece from the back of the chair and put it on the seat of the chair", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2091/frame_0000.jpg", "droid-cotrack/images/episode_2091/frame_0141.jpg", "droid-cotrack/images/episode_2091/frame_0398.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the fleece from the back of the chair and place it on the seat; Remove the thing from the backrest of the chair and put it on the seat; Take the fleece from the back of the chair and put it on the seat of the chair?" }, { "from": "gpt", "value": "To complete this repositioning: Take the fleece from the back of the chair and place it on the seat; Remove the thing from the backrest of the chair and put it on the seat; Take the fleece from the back of the chair and put it on the seat of the chair, execute the following phases: 1) Initial approach phase (start at [0.504, 0.553]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.483, 0.430]). The trajectory involves 399 precise waypoints with total movement distance of 0.576." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2091", "trajectory_length": 399, "key_frame_indices": [ 0, 141, 398 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2091.json" } }, { "id": "droid_cotrack_episode_1753", "task": "Place the bottle on the table in the container; Put the bottle in the container on the table; Put the white object on the table with similar objects in the clear container", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1753/frame_0000.jpg", "droid-cotrack/images/episode_1753/frame_0082.jpg", "droid-cotrack/images/episode_1753/frame_0116.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the bottle on the table in the container; Put the bottle in the container on the table; Put the white object on the table with similar objects in the clear container?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Place the bottle on the table in the container; Put the bottle in the container on the table; Put the white object on the table with similar objects in the clear container, execute the following phases: 1) Initial approach phase (start at [0.531, 0.552]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.480, 0.526]). The trajectory involves 117 precise waypoints with total movement distance of 0.178." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1753", "trajectory_length": 117, "key_frame_indices": [ 0, 82, 116 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1753.json" } }, { "id": "droid_cotrack_episode_4568", "task": "Put the blue pen inside the white bowl; Put the pen inside the white bowl.; Put the pen in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4568/frame_0000.jpg", "droid-cotrack/images/episode_4568/frame_0089.jpg", "droid-cotrack/images/episode_4568/frame_0131.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the blue pen inside the white bowl; Put the pen inside the white bowl.; Put the pen in the bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the blue pen inside the white bowl; Put the pen inside the white bowl.; Put the pen in the bowl, execute the following phases: 1) Initial approach phase (start at [0.693, 0.835]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.693, 0.836]). The trajectory involves 132 precise waypoints with total movement distance of 0.061." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4568", "trajectory_length": 132, "key_frame_indices": [ 0, 89, 131 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4568.json" } }, { "id": "droid_cotrack_episode_6333", "task": "Push the grey towel to the left; Push the towel backwards; Move the towel slightly to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6333/frame_0000.jpg", "droid-cotrack/images/episode_6333/frame_0068.jpg", "droid-cotrack/images/episode_6333/frame_0092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the grey towel to the left; Push the towel backwards; Move the towel slightly to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Push the grey towel to the left; Push the towel backwards; Move the towel slightly to the left, execute the following phases: 1) Initial approach phase (start at [0.513, 0.598]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.529, 0.437]). The trajectory involves 93 precise waypoints with total movement distance of 0.198." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6333", "trajectory_length": 93, "key_frame_indices": [ 0, 68, 92 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6333.json" } }, { "id": "droid_cotrack_episode_10175", "task": "Pick up the marker from the cup and place it on the table; Remove the marker from the mug; Remove the pen from the mug cup and place it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10175/frame_0000.jpg", "droid-cotrack/images/episode_10175/frame_0153.jpg", "droid-cotrack/images/episode_10175/frame_0196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the marker from the cup and place it on the table; Remove the marker from the mug; Remove the pen from the mug cup and place it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the marker from the cup and place it on the table; Remove the marker from the mug; Remove the pen from the mug cup and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.683, 0.421]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.726, 0.559]). The trajectory involves 197 precise waypoints with total movement distance of 1.013." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10175", "trajectory_length": 197, "key_frame_indices": [ 0, 153, 196 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10175.json" } }, { "id": "droid_cotrack_episode_6831", "task": "Pick the marker from the cup and put it on the table; Put the marker on the table; Pick the marker from the cup and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6831/frame_0000.jpg", "droid-cotrack/images/episode_6831/frame_0098.jpg", "droid-cotrack/images/episode_6831/frame_0152.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the marker from the cup and put it on the table; Put the marker on the table; Pick the marker from the cup and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the marker from the cup and put it on the table; Put the marker on the table; Pick the marker from the cup and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.649, 0.331]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.684, 0.366]). The trajectory involves 153 precise waypoints with total movement distance of 0.678." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6831", "trajectory_length": 153, "key_frame_indices": [ 0, 98, 152 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6831.json" } }, { "id": "droid_cotrack_episode_4553", "task": "Close the top drawer on the left; Close the drawer of the file cabinet; Close the top drawer of the cabinet to the left.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4553/frame_0000.jpg", "droid-cotrack/images/episode_4553/frame_0066.jpg", "droid-cotrack/images/episode_4553/frame_0118.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the top drawer on the left; Close the drawer of the file cabinet; Close the top drawer of the cabinet to the left.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the top drawer on the left; Close the drawer of the file cabinet; Close the top drawer of the cabinet to the left., execute the following phases: 1) Initial approach phase (start at [0.531, 0.779]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.407, 0.740]). The trajectory involves 119 precise waypoints with total movement distance of 0.243." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4553", "trajectory_length": 119, "key_frame_indices": [ 0, 66, 118 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4553.json" } }, { "id": "droid_cotrack_episode_531", "task": "Put the blue cup on the table; Move the cup in the pot to the table; Pick up the cup from the bowl and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_531/frame_0000.jpg", "droid-cotrack/images/episode_531/frame_0076.jpg", "droid-cotrack/images/episode_531/frame_0108.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the blue cup on the table; Move the cup in the pot to the table; Pick up the cup from the bowl and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the blue cup on the table; Move the cup in the pot to the table; Pick up the cup from the bowl and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.649, 0.391]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.483, 0.419]). The trajectory involves 109 precise waypoints with total movement distance of 0.538." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_531", "trajectory_length": 109, "key_frame_indices": [ 0, 76, 108 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_531.json" } }, { "id": "droid_cotrack_episode_4267", "task": "Move the purple plush toy to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4267/frame_0000.jpg", "droid-cotrack/images/episode_4267/frame_0064.jpg", "droid-cotrack/images/episode_4267/frame_0093.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the purple plush toy to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the purple plush toy to the right, execute the following phases: 1) Initial approach phase (start at [0.557, 0.440]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.740, 0.543]). The trajectory involves 94 precise waypoints with total movement distance of 0.452." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4267", "trajectory_length": 94, "key_frame_indices": [ 0, 64, 93 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4267.json" } }, { "id": "droid_cotrack_episode_1064", "task": "Use the spatula to push the tennis ball in the oven backwards.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1064/frame_0000.jpg", "droid-cotrack/images/episode_1064/frame_0218.jpg", "droid-cotrack/images/episode_1064/frame_0544.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the spatula to push the tennis ball in the oven backwards.?" }, { "from": "gpt", "value": "To complete this button/switch activation: Use the spatula to push the tennis ball in the oven backwards., execute the following phases: 1) Initial approach phase (start at [0.676, 0.525]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.677, 0.526]). The trajectory involves 545 precise waypoints with total movement distance of 0.205." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1064", "trajectory_length": 545, "key_frame_indices": [ 0, 218, 544 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1064.json" } }, { "id": "droid_cotrack_episode_10184", "task": "Remove the marker from the cup and put it on the table; Take the marker out of the mug; Remove the marker from the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10184/frame_0000.jpg", "droid-cotrack/images/episode_10184/frame_0099.jpg", "droid-cotrack/images/episode_10184/frame_0127.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker from the cup and put it on the table; Take the marker out of the mug; Remove the marker from the cup?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the marker from the cup and put it on the table; Take the marker out of the mug; Remove the marker from the cup, execute the following phases: 1) Initial approach phase (start at [0.616, 0.576]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.689, 0.734]). The trajectory involves 128 precise waypoints with total movement distance of 0.382." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10184", "trajectory_length": 128, "key_frame_indices": [ 0, 99, 127 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10184.json" } }, { "id": "droid_cotrack_episode_963", "task": "Move the tall cylindrical block backwards; Move the cylindrical block closer to the cardboard; Move the circular block to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_963/frame_0000.jpg", "droid-cotrack/images/episode_963/frame_0053.jpg", "droid-cotrack/images/episode_963/frame_0101.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the tall cylindrical block backwards; Move the cylindrical block closer to the cardboard; Move the circular block to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the tall cylindrical block backwards; Move the cylindrical block closer to the cardboard; Move the circular block to the left, execute the following phases: 1) Initial approach phase (start at [0.567, 0.536]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.582, 0.534]). The trajectory involves 102 precise waypoints with total movement distance of 0.057." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_963", "trajectory_length": 102, "key_frame_indices": [ 0, 53, 101 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_963.json" } }, { "id": "droid_cotrack_episode_6406", "task": "Place the blue cup on the tray; Put the blue cup on the tray; Put the blue thing on the tray", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6406/frame_0000.jpg", "droid-cotrack/images/episode_6406/frame_0101.jpg", "droid-cotrack/images/episode_6406/frame_0165.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the blue cup on the tray; Put the blue cup on the tray; Put the blue thing on the tray?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Place the blue cup on the tray; Put the blue cup on the tray; Put the blue thing on the tray, execute the following phases: 1) Initial approach phase (start at [0.763, 0.405]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.572, 0.461]). The trajectory involves 166 precise waypoints with total movement distance of 0.525." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6406", "trajectory_length": 166, "key_frame_indices": [ 0, 101, 165 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6406.json" } }, { "id": "droid_cotrack_episode_6772", "task": "Move the building block tower forward; Move the stack of blocks backwards slightly; Slide the stacked blocks forward", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6772/frame_0000.jpg", "droid-cotrack/images/episode_6772/frame_0088.jpg", "droid-cotrack/images/episode_6772/frame_0273.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the building block tower forward; Move the stack of blocks backwards slightly; Slide the stacked blocks forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the building block tower forward; Move the stack of blocks backwards slightly; Slide the stacked blocks forward, execute the following phases: 1) Initial approach phase (start at [0.548, 0.509]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.553, 0.530]). The trajectory involves 274 precise waypoints with total movement distance of 0.248." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6772", "trajectory_length": 274, "key_frame_indices": [ 0, 88, 273 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6772.json" } }, { "id": "droid_cotrack_episode_4483", "task": "Put the silver lid on the clear bottle; Place the silver lid on the glass vessel; Put the transparent cap on the right transparent bottle", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4483/frame_0000.jpg", "droid-cotrack/images/episode_4483/frame_0108.jpg", "droid-cotrack/images/episode_4483/frame_0264.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the silver lid on the clear bottle; Place the silver lid on the glass vessel; Put the transparent cap on the right transparent bottle?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the silver lid on the clear bottle; Place the silver lid on the glass vessel; Put the transparent cap on the right transparent bottle, execute the following phases: 1) Initial approach phase (start at [0.552, 0.379]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.553, 0.377]). The trajectory involves 265 precise waypoints with total movement distance of 0.137." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4483", "trajectory_length": 265, "key_frame_indices": [ 0, 108, 264 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4483.json" } }, { "id": "droid_cotrack_episode_4206", "task": "Pick the pen on the table and put it in the bowl; Put the marker in the mug; Take the marker and place it in the white bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4206/frame_0000.jpg", "droid-cotrack/images/episode_4206/frame_0226.jpg", "droid-cotrack/images/episode_4206/frame_0266.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the pen on the table and put it in the bowl; Put the marker in the mug; Take the marker and place it in the white bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the pen on the table and put it in the bowl; Put the marker in the mug; Take the marker and place it in the white bowl, execute the following phases: 1) Initial approach phase (start at [0.453, 0.499]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.622, 0.762]). The trajectory involves 267 precise waypoints with total movement distance of 0.600." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4206", "trajectory_length": 267, "key_frame_indices": [ 0, 226, 266 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4206.json" } }, { "id": "droid_cotrack_episode_1599", "task": "Pick up the blue cup from the counter and put it in the dishwasher machine; Put the blue cup inside the dishrack.; Put the blue cup inside the dishwasher", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1599/frame_0000.jpg", "droid-cotrack/images/episode_1599/frame_0149.jpg", "droid-cotrack/images/episode_1599/frame_0273.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the blue cup from the counter and put it in the dishwasher machine; Put the blue cup inside the dishrack.; Put the blue cup inside the dishwasher?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the blue cup from the counter and put it in the dishwasher machine; Put the blue cup inside the dishrack.; Put the blue cup inside the dishwasher, execute the following phases: 1) Initial approach phase (start at [0.401, 0.475]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.381, 0.983]). The trajectory involves 274 precise waypoints with total movement distance of 0.885." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1599", "trajectory_length": 274, "key_frame_indices": [ 0, 149, 273 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1599.json" } }, { "id": "droid_cotrack_episode_2256", "task": "Close the tap; Close the faucet; Push the faucet handle down", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2256/frame_0000.jpg", "droid-cotrack/images/episode_2256/frame_0019.jpg", "droid-cotrack/images/episode_2256/frame_0079.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the tap; Close the faucet; Push the faucet handle down?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the tap; Close the faucet; Push the faucet handle down, execute the following phases: 1) Initial approach phase (start at [0.233, 0.085]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.236, 0.111]). The trajectory involves 80 precise waypoints with total movement distance of 0.236." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2256", "trajectory_length": 80, "key_frame_indices": [ 0, 19, 79 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2256.json" } }, { "id": "droid_cotrack_episode_6760", "task": "Put the yellow and pink clothes in the box.; Put the yellow towel and the pink shirt in the box; Put the clothes in the box", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6760/frame_0000.jpg", "droid-cotrack/images/episode_6760/frame_0478.jpg", "droid-cotrack/images/episode_6760/frame_0527.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the yellow and pink clothes in the box.; Put the yellow towel and the pink shirt in the box; Put the clothes in the box?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the yellow and pink clothes in the box.; Put the yellow towel and the pink shirt in the box; Put the clothes in the box, execute the following phases: 1) Initial approach phase (start at [0.485, 0.933]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.410, 0.630]). The trajectory involves 528 precise waypoints with total movement distance of 1.316." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6760", "trajectory_length": 528, "key_frame_indices": [ 0, 478, 527 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6760.json" } }, { "id": "droid_cotrack_episode_4343", "task": "Put the pen in the glass; Put the pen in the cup; Put the orange pen in the glass", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4343/frame_0000.jpg", "droid-cotrack/images/episode_4343/frame_0194.jpg", "droid-cotrack/images/episode_4343/frame_0228.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pen in the glass; Put the pen in the cup; Put the orange pen in the glass?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the pen in the glass; Put the pen in the cup; Put the orange pen in the glass, execute the following phases: 1) Initial approach phase (start at [0.536, 0.611]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.548, 0.785]). The trajectory involves 229 precise waypoints with total movement distance of 0.758." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4343", "trajectory_length": 229, "key_frame_indices": [ 0, 194, 228 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4343.json" } }, { "id": "droid_cotrack_episode_1565", "task": "Put the carrot plush toy on the pan; Pick up the carrot plush toy and place it on the plate; Put the carrot plush toy on the pan", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1565/frame_0000.jpg", "droid-cotrack/images/episode_1565/frame_0113.jpg", "droid-cotrack/images/episode_1565/frame_0144.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the carrot plush toy on the pan; Pick up the carrot plush toy and place it on the plate; Put the carrot plush toy on the pan?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the carrot plush toy on the pan; Pick up the carrot plush toy and place it on the plate; Put the carrot plush toy on the pan, execute the following phases: 1) Initial approach phase (start at [0.569, 0.623]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.467, 0.509]). The trajectory involves 145 precise waypoints with total movement distance of 0.380." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1565", "trajectory_length": 145, "key_frame_indices": [ 0, 113, 144 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1565.json" } }, { "id": "droid_cotrack_episode_1273", "task": "Take the first brown object from the right and put it in the bin; Put the trash on the counter in the bin; Pick the object on the counter and throw it in the bin", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1273/frame_0000.jpg", "droid-cotrack/images/episode_1273/frame_0148.jpg", "droid-cotrack/images/episode_1273/frame_0156.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the first brown object from the right and put it in the bin; Put the trash on the counter in the bin; Pick the object on the counter and throw it in the bin?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Take the first brown object from the right and put it in the bin; Put the trash on the counter in the bin; Pick the object on the counter and throw it in the bin, execute the following phases: 1) Initial approach phase (start at [0.404, 0.522]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.275, 0.546]). The trajectory involves 157 precise waypoints with total movement distance of 0.286." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1273", "trajectory_length": 157, "key_frame_indices": [ 0, 148, 156 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1273.json" } }, { "id": "droid_cotrack_episode_6750", "task": "Move the salt cellar to the right side of the counter; Move the bottle at the left to the right; Pick the cellar and move it to the right on the counter", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6750/frame_0000.jpg", "droid-cotrack/images/episode_6750/frame_0105.jpg", "droid-cotrack/images/episode_6750/frame_0195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the salt cellar to the right side of the counter; Move the bottle at the left to the right; Pick the cellar and move it to the right on the counter?" }, { "from": "gpt", "value": "To complete this repositioning: Move the salt cellar to the right side of the counter; Move the bottle at the left to the right; Pick the cellar and move it to the right on the counter, execute the following phases: 1) Initial approach phase (start at [0.478, 0.717]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.717, 0.649]). The trajectory involves 196 precise waypoints with total movement distance of 0.886." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6750", "trajectory_length": 196, "key_frame_indices": [ 0, 105, 195 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6750.json" } }, { "id": "droid_cotrack_episode_1992", "task": "Move the black mug from the left to the right; Move the cup to the right; Move the black cup on the table to the right.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1992/frame_0000.jpg", "droid-cotrack/images/episode_1992/frame_0202.jpg", "droid-cotrack/images/episode_1992/frame_0234.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the black mug from the left to the right; Move the cup to the right; Move the black cup on the table to the right.?" }, { "from": "gpt", "value": "To complete this repositioning: Move the black mug from the left to the right; Move the cup to the right; Move the black cup on the table to the right., execute the following phases: 1) Initial approach phase (start at [0.565, 0.622]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.631, 0.529]). The trajectory involves 235 precise waypoints with total movement distance of 1.230." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1992", "trajectory_length": 235, "key_frame_indices": [ 0, 202, 234 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1992.json" } }, { "id": "droid_cotrack_episode_1764", "task": "Put the marker on the table; Remove the marker from the box; Remove the marker from the box and place it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1764/frame_0000.jpg", "droid-cotrack/images/episode_1764/frame_0084.jpg", "droid-cotrack/images/episode_1764/frame_0128.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker on the table; Remove the marker from the box; Remove the marker from the box and place it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Put the marker on the table; Remove the marker from the box; Remove the marker from the box and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.512, 0.650]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.509, 0.654]). The trajectory involves 129 precise waypoints with total movement distance of 0.521." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1764", "trajectory_length": 129, "key_frame_indices": [ 0, 84, 128 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1764.json" } }, { "id": "droid_cotrack_episode_2246", "task": "Put the pink bowl inside the black bowl; Put the peach coloured bowl in the black bowl; Put the brown bowl on top of the black bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2246/frame_0000.jpg", "droid-cotrack/images/episode_2246/frame_0091.jpg", "droid-cotrack/images/episode_2246/frame_0136.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pink bowl inside the black bowl; Put the peach coloured bowl in the black bowl; Put the brown bowl on top of the black bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the pink bowl inside the black bowl; Put the peach coloured bowl in the black bowl; Put the brown bowl on top of the black bowl, execute the following phases: 1) Initial approach phase (start at [0.623, 0.517]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.548, 0.585]). The trajectory involves 137 precise waypoints with total movement distance of 0.267." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2246", "trajectory_length": 137, "key_frame_indices": [ 0, 91, 136 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2246.json" } }, { "id": "droid_cotrack_episode_6258", "task": "Take the broccoli out of the bowl and put it on the table; Pick up the green object inside the bowl and put it on the table; Remove the broccoli from the red bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6258/frame_0000.jpg", "droid-cotrack/images/episode_6258/frame_0089.jpg", "droid-cotrack/images/episode_6258/frame_0146.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the broccoli out of the bowl and put it on the table; Pick up the green object inside the bowl and put it on the table; Remove the broccoli from the red bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Take the broccoli out of the bowl and put it on the table; Pick up the green object inside the bowl and put it on the table; Remove the broccoli from the red bowl, execute the following phases: 1) Initial approach phase (start at [0.564, 0.654]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.493, 0.612]). The trajectory involves 147 precise waypoints with total movement distance of 0.410." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6258", "trajectory_length": 147, "key_frame_indices": [ 0, 89, 146 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6258.json" } }, { "id": "droid_cotrack_episode_1127", "task": "Rotate the dishrack.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1127/frame_0000.jpg", "droid-cotrack/images/episode_1127/frame_0198.jpg", "droid-cotrack/images/episode_1127/frame_0363.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Rotate the dishrack.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Rotate the dishrack., execute the following phases: 1) Initial approach phase (start at [0.617, 0.493]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.684, 0.496]). The trajectory involves 364 precise waypoints with total movement distance of 0.309." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1127", "trajectory_length": 364, "key_frame_indices": [ 0, 198, 363 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1127.json" } }, { "id": "droid_cotrack_episode_760", "task": "Pick up the brush and put it on the box plush toy; Put the orange object over the toy square; Pick orange and white object and put it on top of the box", "selected_step": 1, "image": [ "droid-cotrack/images/episode_760/frame_0000.jpg", "droid-cotrack/images/episode_760/frame_0065.jpg", "droid-cotrack/images/episode_760/frame_0139.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the brush and put it on the box plush toy; Put the orange object over the toy square; Pick orange and white object and put it on top of the box?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the brush and put it on the box plush toy; Put the orange object over the toy square; Pick orange and white object and put it on top of the box, execute the following phases: 1) Initial approach phase (start at [0.443, 0.772]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.766, 0.688]). The trajectory involves 140 precise waypoints with total movement distance of 0.629." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_760", "trajectory_length": 140, "key_frame_indices": [ 0, 65, 139 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_760.json" } }, { "id": "droid_cotrack_episode_933", "task": "Move the blue bottle forward; Pick the bottle and put it beside the pot on the table; Move the blue bottle to the right of the gray pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_933/frame_0000.jpg", "droid-cotrack/images/episode_933/frame_0151.jpg", "droid-cotrack/images/episode_933/frame_0201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the blue bottle forward; Pick the bottle and put it beside the pot on the table; Move the blue bottle to the right of the gray pot?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Move the blue bottle forward; Pick the bottle and put it beside the pot on the table; Move the blue bottle to the right of the gray pot, execute the following phases: 1) Initial approach phase (start at [0.540, 0.428]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.571, 0.623]). The trajectory involves 202 precise waypoints with total movement distance of 0.639." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_933", "trajectory_length": 202, "key_frame_indices": [ 0, 151, 201 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_933.json" } }, { "id": "droid_cotrack_episode_100", "task": "Move the bowl from the dish rack to the counter; Remove the white bowl from the rack and put it on the counter; Remove the bowl from the drying rack and put it on the drying rack", "selected_step": 1, "image": [ "droid-cotrack/images/episode_100/frame_0000.jpg", "droid-cotrack/images/episode_100/frame_0044.jpg", "droid-cotrack/images/episode_100/frame_0493.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bowl from the dish rack to the counter; Remove the white bowl from the rack and put it on the counter; Remove the bowl from the drying rack and put it on the drying rack?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bowl from the dish rack to the counter; Remove the white bowl from the rack and put it on the counter; Remove the bowl from the drying rack and put it on the drying rack, execute the following phases: 1) Initial approach phase (start at [0.463, 0.474]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.512, 0.730]). The trajectory involves 494 precise waypoints with total movement distance of 1.307." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_100", "trajectory_length": 494, "key_frame_indices": [ 0, 44, 493 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_100.json" } }, { "id": "droid_cotrack_episode_1793", "task": "Place the block inside the white bag", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1793/frame_0000.jpg", "droid-cotrack/images/episode_1793/frame_0096.jpg", "droid-cotrack/images/episode_1793/frame_0256.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the block inside the white bag?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Place the block inside the white bag, execute the following phases: 1) Initial approach phase (start at [0.714, 0.843]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.708, 0.821]). The trajectory involves 257 precise waypoints with total movement distance of 0.751." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1793", "trajectory_length": 257, "key_frame_indices": [ 0, 96, 256 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1793.json" } }, { "id": "droid_cotrack_episode_4124", "task": "Take the object and put it in the upper segment of the box; Place a bottle on the tray; Put a bottle from the table on the top compartment of the tray", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4124/frame_0000.jpg", "droid-cotrack/images/episode_4124/frame_0077.jpg", "droid-cotrack/images/episode_4124/frame_0158.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the object and put it in the upper segment of the box; Place a bottle on the tray; Put a bottle from the table on the top compartment of the tray?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Take the object and put it in the upper segment of the box; Place a bottle on the tray; Put a bottle from the table on the top compartment of the tray, execute the following phases: 1) Initial approach phase (start at [0.742, 0.375]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.748, 0.372]). The trajectory involves 159 precise waypoints with total movement distance of 0.054." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4124", "trajectory_length": 159, "key_frame_indices": [ 0, 77, 158 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4124.json" } }, { "id": "droid_cotrack_episode_10287", "task": "Remove the keys from the nightstand and put them on the windowsill then place the keys back on the nightstand; Take the keys off the cabinet next to the sofa, put them next to the screwdriver then put them back on the cabinet; Pick up the keys from the countertop of the cabinet and put them by the window. Pick up the keys from the window and put them back on the countertop.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10287/frame_0000.jpg", "droid-cotrack/images/episode_10287/frame_0051.jpg", "droid-cotrack/images/episode_10287/frame_0506.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the keys from the nightstand and put them on the windowsill then place the keys back on the nightstand; Take the keys off the cabinet next to the sofa, put them next to the screwdriver then put them back on the cabinet; Pick up the keys from the countertop of the cabinet and put them by the window. Pick up the keys from the window and put them back on the countertop.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Remove the keys from the nightstand and put them on the windowsill then place the keys back on the nightstand; Take the keys off the cabinet next to the sofa, put them next to the screwdriver then put them back on the cabinet; Pick up the keys from the countertop of the cabinet and put them by the window. Pick up the keys from the window and put them back on the countertop., execute the following phases: 1) Initial approach phase (start at [0.401, 0.381]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.404, 0.385]). The trajectory involves 507 precise waypoints with total movement distance of 0.379." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10287", "trajectory_length": 507, "key_frame_indices": [ 0, 51, 506 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10287.json" } }, { "id": "droid_cotrack_episode_10121", "task": "Put a cube in the plastic bag", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10121/frame_0000.jpg", "droid-cotrack/images/episode_10121/frame_0171.jpg", "droid-cotrack/images/episode_10121/frame_0244.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put a cube in the plastic bag?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put a cube in the plastic bag, execute the following phases: 1) Initial approach phase (start at [0.561, 0.752]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.562, 0.749]). The trajectory involves 245 precise waypoints with total movement distance of 0.118." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10121", "trajectory_length": 245, "key_frame_indices": [ 0, 171, 244 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10121.json" } }, { "id": "droid_cotrack_episode_1348", "task": "Remove the marker from the silver pot; Take the marker out of the pot and put it on the table; Put the marker on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1348/frame_0000.jpg", "droid-cotrack/images/episode_1348/frame_0018.jpg", "droid-cotrack/images/episode_1348/frame_0334.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker from the silver pot; Take the marker out of the pot and put it on the table; Put the marker on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the marker from the silver pot; Take the marker out of the pot and put it on the table; Put the marker on the table, execute the following phases: 1) Initial approach phase (start at [0.507, 0.455]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.510, 0.457]). The trajectory involves 335 precise waypoints with total movement distance of 0.131." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1348", "trajectory_length": 335, "key_frame_indices": [ 0, 18, 334 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1348.json" } }, { "id": "droid_cotrack_episode_10132", "task": "Remove the marker and place it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10132/frame_0000.jpg", "droid-cotrack/images/episode_10132/frame_0171.jpg", "droid-cotrack/images/episode_10132/frame_0217.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker and place it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the marker and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.456, 0.870]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.442, 0.746]). The trajectory involves 218 precise waypoints with total movement distance of 0.686." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10132", "trajectory_length": 218, "key_frame_indices": [ 0, 171, 217 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10132.json" } }, { "id": "droid_cotrack_episode_1484", "task": "Take the green block out of the box and put it on the table; Remove the green block from the box; Remove the blue object from the box", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1484/frame_0000.jpg", "droid-cotrack/images/episode_1484/frame_0338.jpg", "droid-cotrack/images/episode_1484/frame_0428.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the green block out of the box and put it on the table; Remove the green block from the box; Remove the blue object from the box?" }, { "from": "gpt", "value": "To complete this repositioning: Take the green block out of the box and put it on the table; Remove the green block from the box; Remove the blue object from the box, execute the following phases: 1) Initial approach phase (start at [0.612, 0.806]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.682, 0.808]). The trajectory involves 429 precise waypoints with total movement distance of 0.540." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1484", "trajectory_length": 429, "key_frame_indices": [ 0, 338, 428 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1484.json" } }, { "id": "droid_cotrack_episode_962", "task": "Take the yellow object and place it in the black bowl on the window sill; Put the yellow object in the black bowl; Take the lemon and put it in the blue bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_962/frame_0000.jpg", "droid-cotrack/images/episode_962/frame_0145.jpg", "droid-cotrack/images/episode_962/frame_0216.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the yellow object and place it in the black bowl on the window sill; Put the yellow object in the black bowl; Take the lemon and put it in the blue bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Take the yellow object and place it in the black bowl on the window sill; Put the yellow object in the black bowl; Take the lemon and put it in the blue bowl, execute the following phases: 1) Initial approach phase (start at [0.644, 0.297]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.658, 0.297]). The trajectory involves 217 precise waypoints with total movement distance of 0.311." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_962", "trajectory_length": 217, "key_frame_indices": [ 0, 145, 216 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_962.json" } }, { "id": "droid_cotrack_episode_634", "task": "Move the green towel to the left; Move the green towel to the left; Push the towel to the left edge of the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_634/frame_0000.jpg", "droid-cotrack/images/episode_634/frame_0106.jpg", "droid-cotrack/images/episode_634/frame_0134.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the green towel to the left; Move the green towel to the left; Push the towel to the left edge of the table?" }, { "from": "gpt", "value": "To complete this repositioning: Move the green towel to the left; Move the green towel to the left; Push the towel to the left edge of the table, execute the following phases: 1) Initial approach phase (start at [0.587, 0.635]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.445, 0.555]). The trajectory involves 135 precise waypoints with total movement distance of 0.197." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_634", "trajectory_length": 135, "key_frame_indices": [ 0, 106, 134 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_634.json" } }, { "id": "droid_cotrack_episode_2186", "task": "Slide the lid on the shape sorting box open", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2186/frame_0000.jpg", "droid-cotrack/images/episode_2186/frame_0065.jpg", "droid-cotrack/images/episode_2186/frame_0115.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the lid on the shape sorting box open?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the lid on the shape sorting box open, execute the following phases: 1) Initial approach phase (start at [0.444, 0.498]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.442, 0.494]). The trajectory involves 116 precise waypoints with total movement distance of 0.054." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2186", "trajectory_length": 116, "key_frame_indices": [ 0, 65, 115 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2186.json" } }, { "id": "droid_cotrack_episode_1109", "task": "Pick up the pen from the table and put it in the cup.; Pick up the pen and put it in the cup; Put the marker in the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1109/frame_0000.jpg", "droid-cotrack/images/episode_1109/frame_0103.jpg", "droid-cotrack/images/episode_1109/frame_0167.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the pen from the table and put it in the cup.; Pick up the pen and put it in the cup; Put the marker in the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the pen from the table and put it in the cup.; Pick up the pen and put it in the cup; Put the marker in the cup, execute the following phases: 1) Initial approach phase (start at [0.485, 0.456]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.452, 0.308]). The trajectory involves 168 precise waypoints with total movement distance of 0.658." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1109", "trajectory_length": 168, "key_frame_indices": [ 0, 103, 167 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1109.json" } }, { "id": "droid_cotrack_episode_664", "task": "Cover the pot with the silver lid; Pick up the lid and place it on the pot; Put the lid on the pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_664/frame_0000.jpg", "droid-cotrack/images/episode_664/frame_0218.jpg", "droid-cotrack/images/episode_664/frame_0277.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Cover the pot with the silver lid; Pick up the lid and place it on the pot; Put the lid on the pot?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Cover the pot with the silver lid; Pick up the lid and place it on the pot; Put the lid on the pot, execute the following phases: 1) Initial approach phase (start at [0.269, 0.717]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.267, 0.717]). The trajectory involves 278 precise waypoints with total movement distance of 0.085." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_664", "trajectory_length": 278, "key_frame_indices": [ 0, 218, 277 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_664.json" } }, { "id": "droid_cotrack_episode_4107", "task": "Put the soda can on the left counter", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4107/frame_0000.jpg", "droid-cotrack/images/episode_4107/frame_0144.jpg", "droid-cotrack/images/episode_4107/frame_0254.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the soda can on the left counter?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the soda can on the left counter, execute the following phases: 1) Initial approach phase (start at [0.437, 0.191]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.406, 0.759]). The trajectory involves 255 precise waypoints with total movement distance of 0.880." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4107", "trajectory_length": 255, "key_frame_indices": [ 0, 144, 254 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4107.json" } }, { "id": "droid_cotrack_episode_10077", "task": "Take the cellar in the pot and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10077/frame_0000.jpg", "droid-cotrack/images/episode_10077/frame_0125.jpg", "droid-cotrack/images/episode_10077/frame_0130.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the cellar in the pot and put it on the table?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Take the cellar in the pot and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.761, 0.363]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.763, 0.365]). The trajectory involves 131 precise waypoints with total movement distance of 0.052." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10077", "trajectory_length": 131, "key_frame_indices": [ 0, 125, 130 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10077.json" } }, { "id": "droid_cotrack_episode_1754", "task": "Take the red spoon out of the green cup.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1754/frame_0000.jpg", "droid-cotrack/images/episode_1754/frame_0130.jpg", "droid-cotrack/images/episode_1754/frame_0159.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the red spoon out of the green cup.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Take the red spoon out of the green cup., execute the following phases: 1) Initial approach phase (start at [0.629, 0.524]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.502, 0.677]). The trajectory involves 160 precise waypoints with total movement distance of 0.617." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1754", "trajectory_length": 160, "key_frame_indices": [ 0, 130, 159 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1754.json" } }, { "id": "droid_cotrack_episode_4491", "task": "Pick up the shaving stick from the right side of the counter and place it inside the silver cup; Put the shaving stick in the silver cup; Put the shaving stick on the counter in the metal cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4491/frame_0000.jpg", "droid-cotrack/images/episode_4491/frame_0105.jpg", "droid-cotrack/images/episode_4491/frame_0206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the shaving stick from the right side of the counter and place it inside the silver cup; Put the shaving stick in the silver cup; Put the shaving stick on the counter in the metal cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the shaving stick from the right side of the counter and place it inside the silver cup; Put the shaving stick in the silver cup; Put the shaving stick on the counter in the metal cup, execute the following phases: 1) Initial approach phase (start at [0.380, 0.128]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.348, 0.124]). The trajectory involves 207 precise waypoints with total movement distance of 0.343." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4491", "trajectory_length": 207, "key_frame_indices": [ 0, 105, 206 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4491.json" } }, { "id": "droid_cotrack_episode_4044", "task": "Put the marker in the bowl; Pick up the marker and put it in the bowl; Put the marker in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4044/frame_0000.jpg", "droid-cotrack/images/episode_4044/frame_0057.jpg", "droid-cotrack/images/episode_4044/frame_0098.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the bowl; Pick up the marker and put it in the bowl; Put the marker in the bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the marker in the bowl; Pick up the marker and put it in the bowl; Put the marker in the bowl, execute the following phases: 1) Initial approach phase (start at [0.527, 0.541]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.515, 0.574]). The trajectory involves 99 precise waypoints with total movement distance of 0.270." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4044", "trajectory_length": 99, "key_frame_indices": [ 0, 57, 98 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4044.json" } }, { "id": "droid_cotrack_episode_10270", "task": "Pick up the blue can from the stool and put it in the fridge; Pick up one can from the chair and put it in the fridge; Pick up the blue can from the stool and place it inside the fridge on the fridge door shelf.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10270/frame_0000.jpg", "droid-cotrack/images/episode_10270/frame_0227.jpg", "droid-cotrack/images/episode_10270/frame_0377.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the blue can from the stool and put it in the fridge; Pick up one can from the chair and put it in the fridge; Pick up the blue can from the stool and place it inside the fridge on the fridge door shelf.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the blue can from the stool and put it in the fridge; Pick up one can from the chair and put it in the fridge; Pick up the blue can from the stool and place it inside the fridge on the fridge door shelf., execute the following phases: 1) Initial approach phase (start at [0.653, 1.109]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.712, 0.591]). The trajectory involves 378 precise waypoints with total movement distance of 1.857." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10270", "trajectory_length": 378, "key_frame_indices": [ 0, 227, 377 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10270.json" } }, { "id": "droid_cotrack_episode_1552", "task": "Place the mug to the left of the side; Remove the cup from the sink; Pick up the white cup from the sink and put it on the side of the sink.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1552/frame_0000.jpg", "droid-cotrack/images/episode_1552/frame_0106.jpg", "droid-cotrack/images/episode_1552/frame_0175.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the mug to the left of the side; Remove the cup from the sink; Pick up the white cup from the sink and put it on the side of the sink.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Place the mug to the left of the side; Remove the cup from the sink; Pick up the white cup from the sink and put it on the side of the sink., execute the following phases: 1) Initial approach phase (start at [0.464, 0.773]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.387, 0.708]). The trajectory involves 176 precise waypoints with total movement distance of 0.315." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1552", "trajectory_length": 176, "key_frame_indices": [ 0, 106, 175 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1552.json" } }, { "id": "droid_cotrack_episode_1089", "task": "Move the blue bowl forward; Move the blue bowl to the left; Move the light blue bowl slightly to the left.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1089/frame_0000.jpg", "droid-cotrack/images/episode_1089/frame_0155.jpg", "droid-cotrack/images/episode_1089/frame_0196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the blue bowl forward; Move the blue bowl to the left; Move the light blue bowl slightly to the left.?" }, { "from": "gpt", "value": "To complete this repositioning: Move the blue bowl forward; Move the blue bowl to the left; Move the light blue bowl slightly to the left., execute the following phases: 1) Initial approach phase (start at [0.708, 0.714]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.547, 0.633]). The trajectory involves 197 precise waypoints with total movement distance of 0.473." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1089", "trajectory_length": 197, "key_frame_indices": [ 0, 155, 196 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1089.json" } }, { "id": "droid_cotrack_episode_46", "task": "Put the clear plastic bowl on the coffee maker", "selected_step": 1, "image": [ "droid-cotrack/images/episode_46/frame_0000.jpg", "droid-cotrack/images/episode_46/frame_0119.jpg", "droid-cotrack/images/episode_46/frame_0176.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the clear plastic bowl on the coffee maker?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the clear plastic bowl on the coffee maker, execute the following phases: 1) Initial approach phase (start at [0.469, 0.671]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.470, 0.668]). The trajectory involves 177 precise waypoints with total movement distance of 0.099." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_46", "trajectory_length": 177, "key_frame_indices": [ 0, 119, 176 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_46.json" } }, { "id": "droid_cotrack_episode_1712", "task": "Remove the glasses from the case and put them on the table; Pick up the glasses from the case and put them on the table; Put the glasses on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1712/frame_0000.jpg", "droid-cotrack/images/episode_1712/frame_0030.jpg", "droid-cotrack/images/episode_1712/frame_0158.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the glasses from the case and put them on the table; Pick up the glasses from the case and put them on the table; Put the glasses on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Remove the glasses from the case and put them on the table; Pick up the glasses from the case and put them on the table; Put the glasses on the table, execute the following phases: 1) Initial approach phase (start at [0.536, 0.659]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.532, 0.662]). The trajectory involves 159 precise waypoints with total movement distance of 0.089." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1712", "trajectory_length": 159, "key_frame_indices": [ 0, 30, 158 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1712.json" } }, { "id": "droid_cotrack_episode_464", "task": "Put the grey cup in the red bowl on the table; Remove the cup from the red bowl and put it on the table; Remove the grey salt cellar from the red bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_464/frame_0000.jpg", "droid-cotrack/images/episode_464/frame_0157.jpg", "droid-cotrack/images/episode_464/frame_0165.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the grey cup in the red bowl on the table; Remove the cup from the red bowl and put it on the table; Remove the grey salt cellar from the red bowl?" }, { "from": "gpt", "value": "To complete this repositioning: Put the grey cup in the red bowl on the table; Remove the cup from the red bowl and put it on the table; Remove the grey salt cellar from the red bowl, execute the following phases: 1) Initial approach phase (start at [0.637, 0.793]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.638, 0.794]). The trajectory involves 166 precise waypoints with total movement distance of 0.064." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_464", "trajectory_length": 166, "key_frame_indices": [ 0, 157, 165 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_464.json" } }, { "id": "droid_cotrack_episode_2194", "task": "Put the banana plushy on the tray; Move the banana plush toy from the box to the oven tray; Remove the banana toy from the basket and place it on the black tray", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2194/frame_0000.jpg", "droid-cotrack/images/episode_2194/frame_0349.jpg", "droid-cotrack/images/episode_2194/frame_0362.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the banana plushy on the tray; Move the banana plush toy from the box to the oven tray; Remove the banana toy from the basket and place it on the black tray?" }, { "from": "gpt", "value": "To complete this repositioning: Put the banana plushy on the tray; Move the banana plush toy from the box to the oven tray; Remove the banana toy from the basket and place it on the black tray, execute the following phases: 1) Initial approach phase (start at [0.477, 0.491]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.579, 0.571]). The trajectory involves 363 precise waypoints with total movement distance of 0.773." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2194", "trajectory_length": 363, "key_frame_indices": [ 0, 349, 362 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2194.json" } }, { "id": "droid_cotrack_episode_6396", "task": "Remove the donut from the orange plate", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6396/frame_0000.jpg", "droid-cotrack/images/episode_6396/frame_0066.jpg", "droid-cotrack/images/episode_6396/frame_0105.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the donut from the orange plate?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the donut from the orange plate, execute the following phases: 1) Initial approach phase (start at [0.503, 0.301]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.503, 0.281]). The trajectory involves 106 precise waypoints with total movement distance of 0.152." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6396", "trajectory_length": 106, "key_frame_indices": [ 0, 66, 105 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6396.json" } }, { "id": "droid_cotrack_episode_1107", "task": "Move the tap; Move the tap to the right; Move the faucet to the right.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1107/frame_0000.jpg", "droid-cotrack/images/episode_1107/frame_0090.jpg", "droid-cotrack/images/episode_1107/frame_0132.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the tap; Move the tap to the right; Move the faucet to the right.?" }, { "from": "gpt", "value": "To complete this repositioning: Move the tap; Move the tap to the right; Move the faucet to the right., execute the following phases: 1) Initial approach phase (start at [0.781, 0.468]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.781, 0.467]). The trajectory involves 133 precise waypoints with total movement distance of 0.037." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1107", "trajectory_length": 133, "key_frame_indices": [ 0, 90, 132 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1107.json" } }, { "id": "droid_cotrack_episode_587", "task": "Put the red marker on the table.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_587/frame_0000.jpg", "droid-cotrack/images/episode_587/frame_0209.jpg", "droid-cotrack/images/episode_587/frame_0274.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the red marker on the table.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the red marker on the table., execute the following phases: 1) Initial approach phase (start at [0.593, 0.678]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.499, 0.695]). The trajectory involves 275 precise waypoints with total movement distance of 0.752." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_587", "trajectory_length": 275, "key_frame_indices": [ 0, 209, 274 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_587.json" } }, { "id": "droid_cotrack_episode_1722", "task": "Move the white toy to the left; Move the white toy backwards; Move the white object forward", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1722/frame_0000.jpg", "droid-cotrack/images/episode_1722/frame_0085.jpg", "droid-cotrack/images/episode_1722/frame_0120.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the white toy to the left; Move the white toy backwards; Move the white object forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the white toy to the left; Move the white toy backwards; Move the white object forward, execute the following phases: 1) Initial approach phase (start at [0.593, 0.563]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.481, 0.501]). The trajectory involves 121 precise waypoints with total movement distance of 0.223." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1722", "trajectory_length": 121, "key_frame_indices": [ 0, 85, 120 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1722.json" } }, { "id": "droid_cotrack_episode_6820", "task": "Take the spoon out of the mug and place it in the colander", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6820/frame_0000.jpg", "droid-cotrack/images/episode_6820/frame_0236.jpg", "droid-cotrack/images/episode_6820/frame_0238.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the spoon out of the mug and place it in the colander?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Take the spoon out of the mug and place it in the colander, execute the following phases: 1) Initial approach phase (start at [0.544, 0.508]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.454, 0.421]). The trajectory involves 239 precise waypoints with total movement distance of 1.036." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6820", "trajectory_length": 239, "key_frame_indices": [ 0, 236, 238 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6820.json" } }, { "id": "droid_cotrack_episode_1477", "task": "Remove the cup from the stack", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1477/frame_0000.jpg", "droid-cotrack/images/episode_1477/frame_0309.jpg", "droid-cotrack/images/episode_1477/frame_0370.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the cup from the stack?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the cup from the stack, execute the following phases: 1) Initial approach phase (start at [0.859, 0.487]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.873, 0.528]). The trajectory involves 371 precise waypoints with total movement distance of 0.684." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1477", "trajectory_length": 371, "key_frame_indices": [ 0, 309, 370 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1477.json" } }, { "id": "droid_cotrack_episode_4375", "task": "Take the marker out of the bowl and put it on the desk; Take the marker out of the bowl and put it on the desk; Remove the marker from the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4375/frame_0000.jpg", "droid-cotrack/images/episode_4375/frame_0061.jpg", "droid-cotrack/images/episode_4375/frame_0086.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the marker out of the bowl and put it on the desk; Take the marker out of the bowl and put it on the desk; Remove the marker from the bowl?" }, { "from": "gpt", "value": "To complete this repositioning: Take the marker out of the bowl and put it on the desk; Take the marker out of the bowl and put it on the desk; Remove the marker from the bowl, execute the following phases: 1) Initial approach phase (start at [0.563, 0.560]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.606, 0.852]). The trajectory involves 87 precise waypoints with total movement distance of 0.449." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4375", "trajectory_length": 87, "key_frame_indices": [ 0, 61, 86 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4375.json" } }, { "id": "droid_cotrack_episode_2025", "task": "Pick up the white mug on the left and pour the liquid inside it into the sink then set it down on the left side of the counter; Pick up the white cup, pour its liquid in the sink and put the cup back on the countertop.; Pour the water in the mug into the sink", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2025/frame_0000.jpg", "droid-cotrack/images/episode_2025/frame_0254.jpg", "droid-cotrack/images/episode_2025/frame_0383.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the white mug on the left and pour the liquid inside it into the sink then set it down on the left side of the counter; Pick up the white cup, pour its liquid in the sink and put the cup back on the countertop.; Pour the water in the mug into the sink?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the white mug on the left and pour the liquid inside it into the sink then set it down on the left side of the counter; Pick up the white cup, pour its liquid in the sink and put the cup back on the countertop.; Pour the water in the mug into the sink, execute the following phases: 1) Initial approach phase (start at [0.539, 0.456]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.555, 0.452]). The trajectory involves 384 precise waypoints with total movement distance of 0.251." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2025", "trajectory_length": 384, "key_frame_indices": [ 0, 254, 383 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2025.json" } }, { "id": "droid_cotrack_episode_968", "task": "Put the wooden block on the tool box; Take the object and place it on top of the object; Pick up the brown rectangular object and put it on top of the white, blue and orange object", "selected_step": 1, "image": [ "droid-cotrack/images/episode_968/frame_0000.jpg", "droid-cotrack/images/episode_968/frame_0201.jpg", "droid-cotrack/images/episode_968/frame_0321.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the wooden block on the tool box; Take the object and place it on top of the object; Pick up the brown rectangular object and put it on top of the white, blue and orange object?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the wooden block on the tool box; Take the object and place it on top of the object; Pick up the brown rectangular object and put it on top of the white, blue and orange object, execute the following phases: 1) Initial approach phase (start at [0.683, 0.709]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.493, 0.535]). The trajectory involves 322 precise waypoints with total movement distance of 0.686." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_968", "trajectory_length": 322, "key_frame_indices": [ 0, 201, 321 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_968.json" } }, { "id": "droid_cotrack_episode_1396", "task": "Put the tube in the bag; Pick up the bottle from the table and put it in the purse; Put the bottle inside th pencil bag", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1396/frame_0000.jpg", "droid-cotrack/images/episode_1396/frame_0192.jpg", "droid-cotrack/images/episode_1396/frame_0505.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the tube in the bag; Pick up the bottle from the table and put it in the purse; Put the bottle inside th pencil bag?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the tube in the bag; Pick up the bottle from the table and put it in the purse; Put the bottle inside th pencil bag, execute the following phases: 1) Initial approach phase (start at [0.720, 0.929]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.721, 0.763]). The trajectory involves 506 precise waypoints with total movement distance of 0.839." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1396", "trajectory_length": 506, "key_frame_indices": [ 0, 192, 505 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1396.json" } }, { "id": "droid_cotrack_episode_1033", "task": "Fold the peach towel into a triangle thrice; Fold the towel; Fold the rag", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1033/frame_0000.jpg", "droid-cotrack/images/episode_1033/frame_0217.jpg", "droid-cotrack/images/episode_1033/frame_0414.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the peach towel into a triangle thrice; Fold the towel; Fold the rag?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Fold the peach towel into a triangle thrice; Fold the towel; Fold the rag, execute the following phases: 1) Initial approach phase (start at [0.620, 0.607]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.585, 0.531]). The trajectory involves 415 precise waypoints with total movement distance of 0.443." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1033", "trajectory_length": 415, "key_frame_indices": [ 0, 217, 414 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1033.json" } }, { "id": "droid_cotrack_episode_10139", "task": "Put one bottle from the storage box on the tray; Remove one bottle from the bowl and place it on the tray; Remove a bottle from the storage box and put it on the tray", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10139/frame_0000.jpg", "droid-cotrack/images/episode_10139/frame_0040.jpg", "droid-cotrack/images/episode_10139/frame_0237.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put one bottle from the storage box on the tray; Remove one bottle from the bowl and place it on the tray; Remove a bottle from the storage box and put it on the tray?" }, { "from": "gpt", "value": "To complete this repositioning: Put one bottle from the storage box on the tray; Remove one bottle from the bowl and place it on the tray; Remove a bottle from the storage box and put it on the tray, execute the following phases: 1) Initial approach phase (start at [0.796, 0.538]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.803, 0.531]). The trajectory involves 238 precise waypoints with total movement distance of 0.524." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10139", "trajectory_length": 238, "key_frame_indices": [ 0, 40, 237 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10139.json" } }, { "id": "droid_cotrack_episode_2042", "task": "Open the silver coffeemaker; Open the lid of the coffee maker; Open the top of the silver machine", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2042/frame_0000.jpg", "droid-cotrack/images/episode_2042/frame_0107.jpg", "droid-cotrack/images/episode_2042/frame_0143.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the silver coffeemaker; Open the lid of the coffee maker; Open the top of the silver machine?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the silver coffeemaker; Open the lid of the coffee maker; Open the top of the silver machine, execute the following phases: 1) Initial approach phase (start at [0.570, 0.692]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.569, 0.693]). The trajectory involves 144 precise waypoints with total movement distance of 0.057." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2042", "trajectory_length": 144, "key_frame_indices": [ 0, 107, 143 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2042.json" } }, { "id": "droid_cotrack_episode_4435", "task": "Pick up the object from the table and put it in the white cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4435/frame_0000.jpg", "droid-cotrack/images/episode_4435/frame_0155.jpg", "droid-cotrack/images/episode_4435/frame_0304.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the object from the table and put it in the white cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the object from the table and put it in the white cup, execute the following phases: 1) Initial approach phase (start at [0.588, 0.584]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.551, 0.492]). The trajectory involves 305 precise waypoints with total movement distance of 0.657." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4435", "trajectory_length": 305, "key_frame_indices": [ 0, 155, 304 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4435.json" } }, { "id": "droid_cotrack_episode_6717", "task": "Pick up the black bowl from the table and move it to the right.; Move the bowl; Move the black bowl to the right.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6717/frame_0000.jpg", "droid-cotrack/images/episode_6717/frame_0134.jpg", "droid-cotrack/images/episode_6717/frame_0258.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the black bowl from the table and move it to the right.; Move the bowl; Move the black bowl to the right.?" }, { "from": "gpt", "value": "To complete this repositioning: Pick up the black bowl from the table and move it to the right.; Move the bowl; Move the black bowl to the right., execute the following phases: 1) Initial approach phase (start at [0.503, 0.661]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.514, 0.570]). The trajectory involves 259 precise waypoints with total movement distance of 0.449." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6717", "trajectory_length": 259, "key_frame_indices": [ 0, 134, 258 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6717.json" } }, { "id": "droid_cotrack_episode_4032", "task": "Pick the triangular block on the table and put it on top of the stack of blocks; Put the yellow block that is on the table on the yellow block on the tower; Pick up the triangular yellow block from the table and put it on top of the multi colour block tower.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4032/frame_0000.jpg", "droid-cotrack/images/episode_4032/frame_0090.jpg", "droid-cotrack/images/episode_4032/frame_0182.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the triangular block on the table and put it on top of the stack of blocks; Put the yellow block that is on the table on the yellow block on the tower; Pick up the triangular yellow block from the table and put it on top of the multi colour block tower.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the triangular block on the table and put it on top of the stack of blocks; Put the yellow block that is on the table on the yellow block on the tower; Pick up the triangular yellow block from the table and put it on top of the multi colour block tower., execute the following phases: 1) Initial approach phase (start at [0.525, 0.646]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.430, 0.264]). The trajectory involves 183 precise waypoints with total movement distance of 0.587." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4032", "trajectory_length": 183, "key_frame_indices": [ 0, 90, 182 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4032.json" } }, { "id": "droid_cotrack_episode_4039", "task": "Pick up the paper towel roll and place it on the paper towel holder", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4039/frame_0000.jpg", "droid-cotrack/images/episode_4039/frame_0097.jpg", "droid-cotrack/images/episode_4039/frame_0225.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the paper towel roll and place it on the paper towel holder?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the paper towel roll and place it on the paper towel holder, execute the following phases: 1) Initial approach phase (start at [0.697, 0.383]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.851, 0.069]). The trajectory involves 226 precise waypoints with total movement distance of 0.791." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4039", "trajectory_length": 226, "key_frame_indices": [ 0, 97, 225 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4039.json" } }, { "id": "droid_cotrack_episode_6751", "task": "Take the marker out of the mug; Take the marker from the cup and put it on the top of the printer; Take the pen out of the mug and put it on the paper", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6751/frame_0000.jpg", "droid-cotrack/images/episode_6751/frame_0094.jpg", "droid-cotrack/images/episode_6751/frame_0127.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the marker out of the mug; Take the marker from the cup and put it on the top of the printer; Take the pen out of the mug and put it on the paper?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Take the marker out of the mug; Take the marker from the cup and put it on the top of the printer; Take the pen out of the mug and put it on the paper, execute the following phases: 1) Initial approach phase (start at [0.509, 0.720]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.519, 0.743]). The trajectory involves 128 precise waypoints with total movement distance of 0.391." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6751", "trajectory_length": 128, "key_frame_indices": [ 0, 94, 127 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6751.json" } }, { "id": "droid_cotrack_episode_10195", "task": "Switch on the light using the left switch; Turn on the left light switch; Turn on the light", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10195/frame_0000.jpg", "droid-cotrack/images/episode_10195/frame_0189.jpg", "droid-cotrack/images/episode_10195/frame_0211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Switch on the light using the left switch; Turn on the left light switch; Turn on the light?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Switch on the light using the left switch; Turn on the left light switch; Turn on the light, execute the following phases: 1) Initial approach phase (start at [0.454, 0.311]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.455, 0.313]). The trajectory involves 212 precise waypoints with total movement distance of 0.123." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10195", "trajectory_length": 212, "key_frame_indices": [ 0, 189, 211 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10195.json" } }, { "id": "droid_cotrack_episode_7", "task": "Pick the bottle on the table and put it in the lower compartment of the tray; Pick up the bottle from the purple placemat and put it on the tray; Pick up the object from the table and place it on the case", "selected_step": 1, "image": [ "droid-cotrack/images/episode_7/frame_0000.jpg", "droid-cotrack/images/episode_7/frame_0087.jpg", "droid-cotrack/images/episode_7/frame_0181.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the bottle on the table and put it in the lower compartment of the tray; Pick up the bottle from the purple placemat and put it on the tray; Pick up the object from the table and place it on the case?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the bottle on the table and put it in the lower compartment of the tray; Pick up the bottle from the purple placemat and put it on the tray; Pick up the object from the table and place it on the case, execute the following phases: 1) Initial approach phase (start at [0.757, 0.655]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.749, 0.657]). The trajectory involves 182 precise waypoints with total movement distance of 0.114." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_7", "trajectory_length": 182, "key_frame_indices": [ 0, 87, 181 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_7.json" } }, { "id": "droid_cotrack_episode_10039", "task": "Use the white and red towel to wipe the table; Use the towel to wipe the table; Clean the table using the white towel that is on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10039/frame_0000.jpg", "droid-cotrack/images/episode_10039/frame_0069.jpg", "droid-cotrack/images/episode_10039/frame_0262.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the white and red towel to wipe the table; Use the towel to wipe the table; Clean the table using the white towel that is on the table?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Use the white and red towel to wipe the table; Use the towel to wipe the table; Clean the table using the white towel that is on the table, execute the following phases: 1) Initial approach phase (start at [0.528, 0.615]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.525, 0.624]). The trajectory involves 263 precise waypoints with total movement distance of 1.502." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10039", "trajectory_length": 263, "key_frame_indices": [ 0, 69, 262 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10039.json" } }, { "id": "droid_cotrack_episode_4520", "task": "Pick up the coffee cup on the right and place it on top of the stacked cups on the far right.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4520/frame_0000.jpg", "droid-cotrack/images/episode_4520/frame_0131.jpg", "droid-cotrack/images/episode_4520/frame_0292.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the coffee cup on the right and place it on top of the stacked cups on the far right.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the coffee cup on the right and place it on top of the stacked cups on the far right., execute the following phases: 1) Initial approach phase (start at [0.311, 0.859]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.360, 0.085]). The trajectory involves 293 precise waypoints with total movement distance of 1.439." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4520", "trajectory_length": 293, "key_frame_indices": [ 0, 131, 292 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4520.json" } }, { "id": "droid_cotrack_episode_4590", "task": "Move the black cap to the left side of the desk; Pick up the cap and put it on the left side of the table; Move the black cap to the left side of the desk", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4590/frame_0000.jpg", "droid-cotrack/images/episode_4590/frame_0094.jpg", "droid-cotrack/images/episode_4590/frame_0300.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the black cap to the left side of the desk; Pick up the cap and put it on the left side of the table; Move the black cap to the left side of the desk?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Move the black cap to the left side of the desk; Pick up the cap and put it on the left side of the table; Move the black cap to the left side of the desk, execute the following phases: 1) Initial approach phase (start at [0.422, 0.521]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.424, 0.515]). The trajectory involves 301 precise waypoints with total movement distance of 0.410." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4590", "trajectory_length": 301, "key_frame_indices": [ 0, 94, 300 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4590.json" } }, { "id": "droid_cotrack_episode_163", "task": "Put the marker in the mug; Pick the marker and put it in the cup; Put the marker in the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_163/frame_0000.jpg", "droid-cotrack/images/episode_163/frame_0293.jpg", "droid-cotrack/images/episode_163/frame_0356.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the mug; Pick the marker and put it in the cup; Put the marker in the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the marker in the mug; Pick the marker and put it in the cup; Put the marker in the cup, execute the following phases: 1) Initial approach phase (start at [0.672, 0.747]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.607, 0.145]). The trajectory involves 357 precise waypoints with total movement distance of 0.939." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_163", "trajectory_length": 357, "key_frame_indices": [ 0, 293, 356 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_163.json" } }, { "id": "droid_cotrack_episode_4008", "task": "Take the white paper out of the drawer and put it on the countertop; Remove the paper from the drawer and put it on the table; Pick up the paper from the drawer and put it on the counter", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4008/frame_0000.jpg", "droid-cotrack/images/episode_4008/frame_0086.jpg", "droid-cotrack/images/episode_4008/frame_0172.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the white paper out of the drawer and put it on the countertop; Remove the paper from the drawer and put it on the table; Pick up the paper from the drawer and put it on the counter?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Take the white paper out of the drawer and put it on the countertop; Remove the paper from the drawer and put it on the table; Pick up the paper from the drawer and put it on the counter, execute the following phases: 1) Initial approach phase (start at [0.187, 0.553]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.384, 0.491]). The trajectory involves 173 precise waypoints with total movement distance of 0.638." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4008", "trajectory_length": 173, "key_frame_indices": [ 0, 86, 172 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4008.json" } }, { "id": "droid_cotrack_episode_873", "task": "Move the mug cup forward; Move the cup closer to you; Move the mug to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_873/frame_0000.jpg", "droid-cotrack/images/episode_873/frame_0156.jpg", "droid-cotrack/images/episode_873/frame_0184.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug cup forward; Move the cup closer to you; Move the mug to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug cup forward; Move the cup closer to you; Move the mug to the left, execute the following phases: 1) Initial approach phase (start at [0.390, 0.299]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.433, 0.412]). The trajectory involves 185 precise waypoints with total movement distance of 0.289." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_873", "trajectory_length": 185, "key_frame_indices": [ 0, 156, 184 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_873.json" } }, { "id": "droid_cotrack_episode_4474", "task": "Move the black waste bin forward; Move the black waste bin forward; Move the trash bin to the right of the green plate", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4474/frame_0000.jpg", "droid-cotrack/images/episode_4474/frame_0198.jpg", "droid-cotrack/images/episode_4474/frame_0240.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the black waste bin forward; Move the black waste bin forward; Move the trash bin to the right of the green plate?" }, { "from": "gpt", "value": "To complete this repositioning: Move the black waste bin forward; Move the black waste bin forward; Move the trash bin to the right of the green plate, execute the following phases: 1) Initial approach phase (start at [0.611, 0.374]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.666, 0.419]). The trajectory involves 241 precise waypoints with total movement distance of 0.208." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4474", "trajectory_length": 241, "key_frame_indices": [ 0, 198, 240 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4474.json" } }, { "id": "droid_cotrack_episode_6462", "task": "Place the container with the green lid inside the bag; Put the medicine bottle in the bag; Pick up the bottle with the green lid from the table and put it in the bag.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6462/frame_0000.jpg", "droid-cotrack/images/episode_6462/frame_0158.jpg", "droid-cotrack/images/episode_6462/frame_0190.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the container with the green lid inside the bag; Put the medicine bottle in the bag; Pick up the bottle with the green lid from the table and put it in the bag.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Place the container with the green lid inside the bag; Put the medicine bottle in the bag; Pick up the bottle with the green lid from the table and put it in the bag., execute the following phases: 1) Initial approach phase (start at [0.336, 0.740]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.312, 0.958]). The trajectory involves 191 precise waypoints with total movement distance of 0.500." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6462", "trajectory_length": 191, "key_frame_indices": [ 0, 158, 190 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6462.json" } }, { "id": "droid_cotrack_episode_4182", "task": "Open the second top drawer below the countertop; Open the drawer below the small bowl on the countertop; Open the second drawer from the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4182/frame_0000.jpg", "droid-cotrack/images/episode_4182/frame_0156.jpg", "droid-cotrack/images/episode_4182/frame_0212.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the second top drawer below the countertop; Open the drawer below the small bowl on the countertop; Open the second drawer from the right?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the second top drawer below the countertop; Open the drawer below the small bowl on the countertop; Open the second drawer from the right, execute the following phases: 1) Initial approach phase (start at [0.466, 0.649]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.410, 0.778]). The trajectory involves 213 precise waypoints with total movement distance of 0.254." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4182", "trajectory_length": 213, "key_frame_indices": [ 0, 156, 212 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4182.json" } }, { "id": "droid_cotrack_episode_1334", "task": "Close the lid on the box", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1334/frame_0000.jpg", "droid-cotrack/images/episode_1334/frame_0115.jpg", "droid-cotrack/images/episode_1334/frame_0135.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the lid on the box?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the lid on the box, execute the following phases: 1) Initial approach phase (start at [0.232, 0.572]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.222, 0.596]). The trajectory involves 136 precise waypoints with total movement distance of 0.080." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1334", "trajectory_length": 136, "key_frame_indices": [ 0, 115, 135 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1334.json" } }, { "id": "droid_cotrack_episode_188", "task": "Slide the mug to the left; Shift the mug to the left; Pick up the white cup from the table and slightly move it to the left.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_188/frame_0000.jpg", "droid-cotrack/images/episode_188/frame_0217.jpg", "droid-cotrack/images/episode_188/frame_0223.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the mug to the left; Shift the mug to the left; Pick up the white cup from the table and slightly move it to the left.?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the mug to the left; Shift the mug to the left; Pick up the white cup from the table and slightly move it to the left., execute the following phases: 1) Initial approach phase (start at [0.780, 0.731]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.786, 0.747]). The trajectory involves 224 precise waypoints with total movement distance of 0.357." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_188", "trajectory_length": 224, "key_frame_indices": [ 0, 217, 223 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_188.json" } }, { "id": "droid_cotrack_episode_6488", "task": "Open the toaster oven; Open the door of the oven; Open the toaster oven door", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6488/frame_0000.jpg", "droid-cotrack/images/episode_6488/frame_0206.jpg", "droid-cotrack/images/episode_6488/frame_0467.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the toaster oven; Open the door of the oven; Open the toaster oven door?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the toaster oven; Open the door of the oven; Open the toaster oven door, execute the following phases: 1) Initial approach phase (start at [0.661, 0.353]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.661, 0.360]). The trajectory involves 468 precise waypoints with total movement distance of 0.158." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6488", "trajectory_length": 468, "key_frame_indices": [ 0, 206, 467 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6488.json" } }, { "id": "droid_cotrack_episode_1864", "task": "Push the top of the bottle on the left of the tap; Press the pump of the pump bottle; Push down on the liquid soap bottle dispenser.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1864/frame_0000.jpg", "droid-cotrack/images/episode_1864/frame_0070.jpg", "droid-cotrack/images/episode_1864/frame_0317.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the top of the bottle on the left of the tap; Press the pump of the pump bottle; Push down on the liquid soap bottle dispenser.?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push the top of the bottle on the left of the tap; Press the pump of the pump bottle; Push down on the liquid soap bottle dispenser., execute the following phases: 1) Initial approach phase (start at [0.556, 0.221]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.556, 0.224]). The trajectory involves 318 precise waypoints with total movement distance of 0.127." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1864", "trajectory_length": 318, "key_frame_indices": [ 0, 70, 317 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1864.json" } }, { "id": "droid_cotrack_episode_1056", "task": "Pick the stuffed octopus and put it adjacent to the monitor; Move the pink octopus to the right side of the desk; Move the pink toy to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1056/frame_0000.jpg", "droid-cotrack/images/episode_1056/frame_0068.jpg", "droid-cotrack/images/episode_1056/frame_0147.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the stuffed octopus and put it adjacent to the monitor; Move the pink octopus to the right side of the desk; Move the pink toy to the right?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the stuffed octopus and put it adjacent to the monitor; Move the pink octopus to the right side of the desk; Move the pink toy to the right, execute the following phases: 1) Initial approach phase (start at [0.411, 0.863]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.555, 0.535]). The trajectory involves 148 precise waypoints with total movement distance of 0.705." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1056", "trajectory_length": 148, "key_frame_indices": [ 0, 68, 147 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1056.json" } }, { "id": "droid_cotrack_episode_1131", "task": "Place the t-shirt on the left side of the windowsill; Take the grey garment off the blue bottle; Pick up the cloth from the blue cup and move it to the left.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1131/frame_0000.jpg", "droid-cotrack/images/episode_1131/frame_0240.jpg", "droid-cotrack/images/episode_1131/frame_0311.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the t-shirt on the left side of the windowsill; Take the grey garment off the blue bottle; Pick up the cloth from the blue cup and move it to the left.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Place the t-shirt on the left side of the windowsill; Take the grey garment off the blue bottle; Pick up the cloth from the blue cup and move it to the left., execute the following phases: 1) Initial approach phase (start at [0.730, 0.151]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.823, -0.980]). The trajectory involves 312 precise waypoints with total movement distance of 1.327." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1131", "trajectory_length": 312, "key_frame_indices": [ 0, 240, 311 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1131.json" } }, { "id": "droid_cotrack_episode_4419", "task": "Place the marker inside the yellow mug; Put the red marker inside the yellow mug; Put the marker in the mug", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4419/frame_0000.jpg", "droid-cotrack/images/episode_4419/frame_0121.jpg", "droid-cotrack/images/episode_4419/frame_0212.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the marker inside the yellow mug; Put the red marker inside the yellow mug; Put the marker in the mug?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Place the marker inside the yellow mug; Put the red marker inside the yellow mug; Put the marker in the mug, execute the following phases: 1) Initial approach phase (start at [0.560, 0.499]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.651, 0.487]). The trajectory involves 213 precise waypoints with total movement distance of 0.738." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4419", "trajectory_length": 213, "key_frame_indices": [ 0, 121, 212 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4419.json" } }, { "id": "droid_cotrack_episode_1458", "task": "Pick up the black object and put it in the plastic bag.; Put the turkey baster in the clear plastic.; Put the black item in the plastic bag", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1458/frame_0000.jpg", "droid-cotrack/images/episode_1458/frame_0126.jpg", "droid-cotrack/images/episode_1458/frame_0376.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the black object and put it in the plastic bag.; Put the turkey baster in the clear plastic.; Put the black item in the plastic bag?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the black object and put it in the plastic bag.; Put the turkey baster in the clear plastic.; Put the black item in the plastic bag, execute the following phases: 1) Initial approach phase (start at [0.414, 0.768]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.425, 0.740]). The trajectory involves 377 precise waypoints with total movement distance of 0.708." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1458", "trajectory_length": 377, "key_frame_indices": [ 0, 126, 376 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1458.json" } }, { "id": "droid_cotrack_episode_6062", "task": "Move the yellow mug forward; Move the mug to the right; Move the yellow mug to the right side of the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6062/frame_0000.jpg", "droid-cotrack/images/episode_6062/frame_0178.jpg", "droid-cotrack/images/episode_6062/frame_0274.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the yellow mug forward; Move the mug to the right; Move the yellow mug to the right side of the table?" }, { "from": "gpt", "value": "To complete this repositioning: Move the yellow mug forward; Move the mug to the right; Move the yellow mug to the right side of the table, execute the following phases: 1) Initial approach phase (start at [0.308, 0.536]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.571, 0.490]). The trajectory involves 275 precise waypoints with total movement distance of 0.548." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6062", "trajectory_length": 275, "key_frame_indices": [ 0, 178, 274 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6062.json" } }, { "id": "droid_cotrack_episode_2082", "task": "Open the drawer; Open the sliding tray; Open the drawer", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2082/frame_0000.jpg", "droid-cotrack/images/episode_2082/frame_0260.jpg", "droid-cotrack/images/episode_2082/frame_0269.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the drawer; Open the sliding tray; Open the drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the drawer; Open the sliding tray; Open the drawer, execute the following phases: 1) Initial approach phase (start at [0.440, 0.426]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.552, 0.517]). The trajectory involves 270 precise waypoints with total movement distance of 0.552." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2082", "trajectory_length": 270, "key_frame_indices": [ 0, 260, 269 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2082.json" } }, { "id": "droid_cotrack_episode_4466", "task": "Remove the glue stick from the drawer and put it on the table; Remove the glue stick from the open drawer and place it on the countertop; Remove the glue stick from the drawer and put it on the countertop", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4466/frame_0000.jpg", "droid-cotrack/images/episode_4466/frame_0013.jpg", "droid-cotrack/images/episode_4466/frame_0229.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the glue stick from the drawer and put it on the table; Remove the glue stick from the open drawer and place it on the countertop; Remove the glue stick from the drawer and put it on the countertop?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the glue stick from the drawer and put it on the table; Remove the glue stick from the open drawer and place it on the countertop; Remove the glue stick from the drawer and put it on the countertop, execute the following phases: 1) Initial approach phase (start at [0.338, 0.405]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.393, 0.359]). The trajectory involves 230 precise waypoints with total movement distance of 0.569." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4466", "trajectory_length": 230, "key_frame_indices": [ 0, 13, 229 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4466.json" } }, { "id": "droid_cotrack_episode_1149", "task": "Turn on the electric kettle; Switch on the kettle; Press the switch on the electric kettle", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1149/frame_0000.jpg", "droid-cotrack/images/episode_1149/frame_0064.jpg", "droid-cotrack/images/episode_1149/frame_0120.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn on the electric kettle; Switch on the kettle; Press the switch on the electric kettle?" }, { "from": "gpt", "value": "To complete this button/switch activation: Turn on the electric kettle; Switch on the kettle; Press the switch on the electric kettle, execute the following phases: 1) Initial approach phase (start at [0.563, 0.688]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.563, 0.686]). The trajectory involves 121 precise waypoints with total movement distance of 0.040." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1149", "trajectory_length": 121, "key_frame_indices": [ 0, 64, 120 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1149.json" } }, { "id": "droid_cotrack_episode_10041", "task": "Pick up the canned drink and put it in the shelf", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10041/frame_0000.jpg", "droid-cotrack/images/episode_10041/frame_0184.jpg", "droid-cotrack/images/episode_10041/frame_0400.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the canned drink and put it in the shelf?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the canned drink and put it in the shelf, execute the following phases: 1) Initial approach phase (start at [0.484, 0.873]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.360, 0.108]). The trajectory involves 401 precise waypoints with total movement distance of 1.108." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10041", "trajectory_length": 401, "key_frame_indices": [ 0, 184, 400 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10041.json" } }, { "id": "droid_cotrack_episode_1522", "task": "Put the black shirt on the table; Put the black t-shirt on the table; Pick up the cloth from the tripod and put it on the table.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1522/frame_0000.jpg", "droid-cotrack/images/episode_1522/frame_0171.jpg", "droid-cotrack/images/episode_1522/frame_0190.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the black shirt on the table; Put the black t-shirt on the table; Pick up the cloth from the tripod and put it on the table.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the black shirt on the table; Put the black t-shirt on the table; Pick up the cloth from the tripod and put it on the table., execute the following phases: 1) Initial approach phase (start at [0.645, 0.125]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.587, 0.207]). The trajectory involves 191 precise waypoints with total movement distance of 1.110." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1522", "trajectory_length": 191, "key_frame_indices": [ 0, 171, 190 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1522.json" } }, { "id": "droid_cotrack_episode_1500", "task": "Close the bottom drawer; Close the bottom drawer of the right cabinet; Close the bottom drawer of the cabinet to the right.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1500/frame_0000.jpg", "droid-cotrack/images/episode_1500/frame_0057.jpg", "droid-cotrack/images/episode_1500/frame_0077.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the bottom drawer; Close the bottom drawer of the right cabinet; Close the bottom drawer of the cabinet to the right.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the bottom drawer; Close the bottom drawer of the right cabinet; Close the bottom drawer of the cabinet to the right., execute the following phases: 1) Initial approach phase (start at [0.603, 0.964]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.587, 0.878]). The trajectory involves 78 precise waypoints with total movement distance of 0.132." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1500", "trajectory_length": 78, "key_frame_indices": [ 0, 57, 77 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1500.json" } }, { "id": "droid_cotrack_episode_6028", "task": "Put the marker on the table; Pick the marker in the bowl and put it on the table; Remove the pen out of the green bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6028/frame_0000.jpg", "droid-cotrack/images/episode_6028/frame_0086.jpg", "droid-cotrack/images/episode_6028/frame_0139.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker on the table; Pick the marker in the bowl and put it on the table; Remove the pen out of the green bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the marker on the table; Pick the marker in the bowl and put it on the table; Remove the pen out of the green bowl, execute the following phases: 1) Initial approach phase (start at [0.750, 0.502]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.751, 0.499]). The trajectory involves 140 precise waypoints with total movement distance of 0.051." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6028", "trajectory_length": 140, "key_frame_indices": [ 0, 86, 139 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6028.json" } }, { "id": "droid_cotrack_episode_2012", "task": "Place the bottle on the stover; Take the salt shaker from the shelf and put it on the stove; Take the salt shaker from the shelf and put it on the stove", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2012/frame_0000.jpg", "droid-cotrack/images/episode_2012/frame_0366.jpg", "droid-cotrack/images/episode_2012/frame_0381.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the bottle on the stover; Take the salt shaker from the shelf and put it on the stove; Take the salt shaker from the shelf and put it on the stove?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Place the bottle on the stover; Take the salt shaker from the shelf and put it on the stove; Take the salt shaker from the shelf and put it on the stove, execute the following phases: 1) Initial approach phase (start at [0.643, 0.328]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.642, 0.419]). The trajectory involves 382 precise waypoints with total movement distance of 0.633." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2012", "trajectory_length": 382, "key_frame_indices": [ 0, 366, 381 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2012.json" } }, { "id": "droid_cotrack_episode_799", "task": "Put the black marker in the silver pot; Put the marker in the pot; Pick up the marker from the table and put it in the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_799/frame_0000.jpg", "droid-cotrack/images/episode_799/frame_0092.jpg", "droid-cotrack/images/episode_799/frame_0171.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the black marker in the silver pot; Put the marker in the pot; Pick up the marker from the table and put it in the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the black marker in the silver pot; Put the marker in the pot; Pick up the marker from the table and put it in the cup, execute the following phases: 1) Initial approach phase (start at [0.636, 0.574]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.529, 0.478]). The trajectory involves 172 precise waypoints with total movement distance of 0.593." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_799", "trajectory_length": 172, "key_frame_indices": [ 0, 92, 171 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_799.json" } }, { "id": "droid_cotrack_episode_4127", "task": "Move the cob of maize to the left; Move the maize cob to the left; Move the cob to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4127/frame_0000.jpg", "droid-cotrack/images/episode_4127/frame_0082.jpg", "droid-cotrack/images/episode_4127/frame_0122.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cob of maize to the left; Move the maize cob to the left; Move the cob to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cob of maize to the left; Move the maize cob to the left; Move the cob to the left, execute the following phases: 1) Initial approach phase (start at [0.507, 0.481]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.353, 0.490]). The trajectory involves 123 precise waypoints with total movement distance of 0.403." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4127", "trajectory_length": 123, "key_frame_indices": [ 0, 82, 122 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4127.json" } }, { "id": "droid_cotrack_episode_6404", "task": "Pour the contents in the clear bowl into the blue bowl; Pour the contents from the clear bowl into the blue bowl then put the clear bowl on the table; Pour the contents of the clear bowl into the blue bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6404/frame_0000.jpg", "droid-cotrack/images/episode_6404/frame_0065.jpg", "droid-cotrack/images/episode_6404/frame_0516.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour the contents in the clear bowl into the blue bowl; Pour the contents from the clear bowl into the blue bowl then put the clear bowl on the table; Pour the contents of the clear bowl into the blue bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Pour the contents in the clear bowl into the blue bowl; Pour the contents from the clear bowl into the blue bowl then put the clear bowl on the table; Pour the contents of the clear bowl into the blue bowl, execute the following phases: 1) Initial approach phase (start at [0.516, 0.448]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.519, 0.448]). The trajectory involves 517 precise waypoints with total movement distance of 0.219." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6404", "trajectory_length": 517, "key_frame_indices": [ 0, 65, 516 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6404.json" } }, { "id": "droid_cotrack_episode_6065", "task": "Put the black marker inside the red mug; Put the black marker inside the maroon mug; Put the marker on the table inside the mug cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6065/frame_0000.jpg", "droid-cotrack/images/episode_6065/frame_0063.jpg", "droid-cotrack/images/episode_6065/frame_0129.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the black marker inside the red mug; Put the black marker inside the maroon mug; Put the marker on the table inside the mug cup?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the black marker inside the red mug; Put the black marker inside the maroon mug; Put the marker on the table inside the mug cup, execute the following phases: 1) Initial approach phase (start at [0.691, 0.980]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.694, 0.965]). The trajectory involves 130 precise waypoints with total movement distance of 0.192." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6065", "trajectory_length": 130, "key_frame_indices": [ 0, 63, 129 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6065.json" } }, { "id": "droid_cotrack_episode_10217", "task": "Remove the belt from the sofa and put it on the backrest of the black chair; Pick up the belt from the sofa and place it on the backrest of the black chair; Pick the belt on the sofa and put it on the black chair", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10217/frame_0000.jpg", "droid-cotrack/images/episode_10217/frame_0046.jpg", "droid-cotrack/images/episode_10217/frame_0252.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the belt from the sofa and put it on the backrest of the black chair; Pick up the belt from the sofa and place it on the backrest of the black chair; Pick the belt on the sofa and put it on the black chair?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Remove the belt from the sofa and put it on the backrest of the black chair; Pick up the belt from the sofa and place it on the backrest of the black chair; Pick the belt on the sofa and put it on the black chair, execute the following phases: 1) Initial approach phase (start at [0.626, 0.455]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.627, 0.454]). The trajectory involves 253 precise waypoints with total movement distance of 0.100." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10217", "trajectory_length": 253, "key_frame_indices": [ 0, 46, 252 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10217.json" } }, { "id": "droid_cotrack_episode_13", "task": "Move the pillow", "selected_step": 1, "image": [ "droid-cotrack/images/episode_13/frame_0000.jpg", "droid-cotrack/images/episode_13/frame_0138.jpg", "droid-cotrack/images/episode_13/frame_0229.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the pillow?" }, { "from": "gpt", "value": "To complete this repositioning: Move the pillow, execute the following phases: 1) Initial approach phase (start at [0.640, 0.466]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.562, 0.587]). The trajectory involves 230 precise waypoints with total movement distance of 0.797." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_13", "trajectory_length": 230, "key_frame_indices": [ 0, 138, 229 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_13.json" } }, { "id": "droid_cotrack_episode_10029", "task": "Pick up the piece of paper from the edge of the table and move it forward.; Pick up the paper and put it on the table; Place the white paper on top of the laptop", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10029/frame_0000.jpg", "droid-cotrack/images/episode_10029/frame_0111.jpg", "droid-cotrack/images/episode_10029/frame_0193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the piece of paper from the edge of the table and move it forward.; Pick up the paper and put it on the table; Place the white paper on top of the laptop?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the piece of paper from the edge of the table and move it forward.; Pick up the paper and put it on the table; Place the white paper on top of the laptop, execute the following phases: 1) Initial approach phase (start at [0.217, 0.833]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.280, 0.673]). The trajectory involves 194 precise waypoints with total movement distance of 0.362." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10029", "trajectory_length": 194, "key_frame_indices": [ 0, 111, 193 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10029.json" } }, { "id": "droid_cotrack_episode_4547", "task": "Move the marker to the left; Move the marker to the left; Move the marker to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4547/frame_0000.jpg", "droid-cotrack/images/episode_4547/frame_0125.jpg", "droid-cotrack/images/episode_4547/frame_0150.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the marker to the left; Move the marker to the left; Move the marker to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the marker to the left; Move the marker to the left; Move the marker to the left, execute the following phases: 1) Initial approach phase (start at [0.377, 0.582]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.386, 0.505]). The trajectory involves 151 precise waypoints with total movement distance of 0.373." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4547", "trajectory_length": 151, "key_frame_indices": [ 0, 125, 150 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4547.json" } }, { "id": "droid_cotrack_episode_583", "task": "Move the cube to the right on the shelf", "selected_step": 1, "image": [ "droid-cotrack/images/episode_583/frame_0000.jpg", "droid-cotrack/images/episode_583/frame_0125.jpg", "droid-cotrack/images/episode_583/frame_0162.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cube to the right on the shelf?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cube to the right on the shelf, execute the following phases: 1) Initial approach phase (start at [0.538, 0.652]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.910, 0.895]). The trajectory involves 163 precise waypoints with total movement distance of 1.119." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_583", "trajectory_length": 163, "key_frame_indices": [ 0, 125, 162 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_583.json" } }, { "id": "droid_cotrack_episode_913", "task": "Remove the blue marker from the glass cup; Remove the blue marker from the glass and put it on the table; Take the marker out of the glass cup and place it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_913/frame_0000.jpg", "droid-cotrack/images/episode_913/frame_0209.jpg", "droid-cotrack/images/episode_913/frame_0230.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the blue marker from the glass cup; Remove the blue marker from the glass and put it on the table; Take the marker out of the glass cup and place it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the blue marker from the glass cup; Remove the blue marker from the glass and put it on the table; Take the marker out of the glass cup and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.605, 0.502]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.659, 0.736]). The trajectory involves 231 precise waypoints with total movement distance of 0.783." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_913", "trajectory_length": 231, "key_frame_indices": [ 0, 209, 230 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_913.json" } }, { "id": "droid_cotrack_episode_18", "task": "Put the marker in the pot on the table; Take the marker out of the pot and put it on the desk; Remove the black marker from the silver pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_18/frame_0000.jpg", "droid-cotrack/images/episode_18/frame_0081.jpg", "droid-cotrack/images/episode_18/frame_0142.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the pot on the table; Take the marker out of the pot and put it on the desk; Remove the black marker from the silver pot?" }, { "from": "gpt", "value": "To complete this repositioning: Put the marker in the pot on the table; Take the marker out of the pot and put it on the desk; Remove the black marker from the silver pot, execute the following phases: 1) Initial approach phase (start at [0.534, 0.434]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.512, 0.411]). The trajectory involves 143 precise waypoints with total movement distance of 0.320." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_18", "trajectory_length": 143, "key_frame_indices": [ 0, 81, 142 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_18.json" } }, { "id": "droid_cotrack_episode_1690", "task": "Take the pen out of the bowl and put it on the table; Remove the marker from the bowl and put it on the table; Pick up the pen from the bowl and put it on the table.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1690/frame_0000.jpg", "droid-cotrack/images/episode_1690/frame_0105.jpg", "droid-cotrack/images/episode_1690/frame_0157.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the pen out of the bowl and put it on the table; Remove the marker from the bowl and put it on the table; Pick up the pen from the bowl and put it on the table.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Take the pen out of the bowl and put it on the table; Remove the marker from the bowl and put it on the table; Pick up the pen from the bowl and put it on the table., execute the following phases: 1) Initial approach phase (start at [0.494, 0.673]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.408, 0.562]). The trajectory involves 158 precise waypoints with total movement distance of 0.635." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1690", "trajectory_length": 158, "key_frame_indices": [ 0, 105, 157 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1690.json" } }, { "id": "droid_cotrack_episode_10035", "task": "Put the marker on the table; Put the pen on the table; Take the marker from the mug and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10035/frame_0000.jpg", "droid-cotrack/images/episode_10035/frame_0175.jpg", "droid-cotrack/images/episode_10035/frame_0214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker on the table; Put the pen on the table; Take the marker from the mug and put it on the table?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the marker on the table; Put the pen on the table; Take the marker from the mug and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.554, 0.256]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.491, 0.804]). The trajectory involves 215 precise waypoints with total movement distance of 1.528." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10035", "trajectory_length": 215, "key_frame_indices": [ 0, 175, 214 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10035.json" } }, { "id": "droid_cotrack_episode_2209", "task": "Flip the switch on the right; Turn on the first switch on the right; Turn on the right light switch", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2209/frame_0000.jpg", "droid-cotrack/images/episode_2209/frame_0106.jpg", "droid-cotrack/images/episode_2209/frame_0131.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Flip the switch on the right; Turn on the first switch on the right; Turn on the right light switch?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Flip the switch on the right; Turn on the first switch on the right; Turn on the right light switch, execute the following phases: 1) Initial approach phase (start at [0.589, 0.156]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.591, 0.150]). The trajectory involves 132 precise waypoints with total movement distance of 0.258." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2209", "trajectory_length": 132, "key_frame_indices": [ 0, 106, 131 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2209.json" } }, { "id": "droid_cotrack_episode_1171", "task": "Move the pillow on the sofa", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1171/frame_0000.jpg", "droid-cotrack/images/episode_1171/frame_0127.jpg", "droid-cotrack/images/episode_1171/frame_0320.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the pillow on the sofa?" }, { "from": "gpt", "value": "To complete this repositioning: Move the pillow on the sofa, execute the following phases: 1) Initial approach phase (start at [0.444, 0.669]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.561, 0.614]). The trajectory involves 321 precise waypoints with total movement distance of 1.094." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1171", "trajectory_length": 321, "key_frame_indices": [ 0, 127, 320 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1171.json" } }, { "id": "droid_cotrack_episode_4143", "task": "Pick the marker from the cup and put it on the table; Pick up the pen from the cup and put it on the counter; Remove the pen from the cup and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4143/frame_0000.jpg", "droid-cotrack/images/episode_4143/frame_0185.jpg", "droid-cotrack/images/episode_4143/frame_0200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the marker from the cup and put it on the table; Pick up the pen from the cup and put it on the counter; Remove the pen from the cup and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the marker from the cup and put it on the table; Pick up the pen from the cup and put it on the counter; Remove the pen from the cup and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.378, 0.312]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.386, 0.312]). The trajectory involves 201 precise waypoints with total movement distance of 0.101." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4143", "trajectory_length": 201, "key_frame_indices": [ 0, 185, 200 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4143.json" } }, { "id": "droid_cotrack_episode_1997", "task": "Put the orange block on the green block; Place the topmost orange block on top of the green one; Put the orange rectangular block on the green rectangular block", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1997/frame_0000.jpg", "droid-cotrack/images/episode_1997/frame_0104.jpg", "droid-cotrack/images/episode_1997/frame_0174.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange block on the green block; Place the topmost orange block on top of the green one; Put the orange rectangular block on the green rectangular block?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the orange block on the green block; Place the topmost orange block on top of the green one; Put the orange rectangular block on the green rectangular block, execute the following phases: 1) Initial approach phase (start at [0.731, 0.351]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.509, 0.366]). The trajectory involves 175 precise waypoints with total movement distance of 0.577." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1997", "trajectory_length": 175, "key_frame_indices": [ 0, 104, 174 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1997.json" } }, { "id": "droid_cotrack_episode_6318", "task": "Put the snack pack in the sink", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6318/frame_0000.jpg", "droid-cotrack/images/episode_6318/frame_0160.jpg", "droid-cotrack/images/episode_6318/frame_0284.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the snack pack in the sink?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the snack pack in the sink, execute the following phases: 1) Initial approach phase (start at [0.335, 0.738]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.367, 0.790]). The trajectory involves 285 precise waypoints with total movement distance of 0.664." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6318", "trajectory_length": 285, "key_frame_indices": [ 0, 160, 284 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6318.json" } }, { "id": "droid_cotrack_episode_4349", "task": "Move the brush inside the silver flask up and down; Use the brush to clean the inside of the flask; Clean the flask using the brush in it", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4349/frame_0000.jpg", "droid-cotrack/images/episode_4349/frame_0153.jpg", "droid-cotrack/images/episode_4349/frame_0266.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the brush inside the silver flask up and down; Use the brush to clean the inside of the flask; Clean the flask using the brush in it?" }, { "from": "gpt", "value": "To complete this repositioning: Move the brush inside the silver flask up and down; Use the brush to clean the inside of the flask; Clean the flask using the brush in it, execute the following phases: 1) Initial approach phase (start at [0.670, 0.121]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.676, 0.122]). The trajectory involves 267 precise waypoints with total movement distance of 0.151." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4349", "trajectory_length": 267, "key_frame_indices": [ 0, 153, 266 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4349.json" } }, { "id": "droid_cotrack_episode_6096", "task": "Put the marker into the green cup.; Put the black marker in the yellow mug; Put the marker inside the mug", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6096/frame_0000.jpg", "droid-cotrack/images/episode_6096/frame_0109.jpg", "droid-cotrack/images/episode_6096/frame_0203.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker into the green cup.; Put the black marker in the yellow mug; Put the marker inside the mug?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the marker into the green cup.; Put the black marker in the yellow mug; Put the marker inside the mug, execute the following phases: 1) Initial approach phase (start at [0.595, 0.547]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.576, 0.231]). The trajectory involves 204 precise waypoints with total movement distance of 0.905." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6096", "trajectory_length": 204, "key_frame_indices": [ 0, 109, 203 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6096.json" } }, { "id": "droid_cotrack_episode_6108", "task": "Close the drawer; Close the drawer; Close the chest drawer", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6108/frame_0000.jpg", "droid-cotrack/images/episode_6108/frame_0184.jpg", "droid-cotrack/images/episode_6108/frame_0194.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the drawer; Close the drawer; Close the chest drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the drawer; Close the drawer; Close the chest drawer, execute the following phases: 1) Initial approach phase (start at [0.546, 0.487]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.600, 0.441]). The trajectory involves 195 precise waypoints with total movement distance of 0.130." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6108", "trajectory_length": 195, "key_frame_indices": [ 0, 184, 194 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6108.json" } }, { "id": "droid_cotrack_episode_2180", "task": "Drop the pillow on the sofa seat", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2180/frame_0000.jpg", "droid-cotrack/images/episode_2180/frame_0120.jpg", "droid-cotrack/images/episode_2180/frame_0140.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Drop the pillow on the sofa seat?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Drop the pillow on the sofa seat, execute the following phases: 1) Initial approach phase (start at [0.661, 0.227]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.743, 0.818]). The trajectory involves 141 precise waypoints with total movement distance of 0.701." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2180", "trajectory_length": 141, "key_frame_indices": [ 0, 120, 140 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2180.json" } }, { "id": "droid_cotrack_episode_236", "task": "Open the book", "selected_step": 1, "image": [ "droid-cotrack/images/episode_236/frame_0000.jpg", "droid-cotrack/images/episode_236/frame_0258.jpg", "droid-cotrack/images/episode_236/frame_0281.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the book?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the book, execute the following phases: 1) Initial approach phase (start at [0.637, 0.621]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.576, 0.635]). The trajectory involves 282 precise waypoints with total movement distance of 0.271." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_236", "trajectory_length": 282, "key_frame_indices": [ 0, 258, 281 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_236.json" } }, { "id": "droid_cotrack_episode_1580", "task": "Take the book in the middle and put it in the black rack; Put the middle book at the left into the black rack; Put the green book in the rack", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1580/frame_0000.jpg", "droid-cotrack/images/episode_1580/frame_0290.jpg", "droid-cotrack/images/episode_1580/frame_0383.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the book in the middle and put it in the black rack; Put the middle book at the left into the black rack; Put the green book in the rack?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Take the book in the middle and put it in the black rack; Put the middle book at the left into the black rack; Put the green book in the rack, execute the following phases: 1) Initial approach phase (start at [0.587, 0.612]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.683, 0.562]). The trajectory involves 384 precise waypoints with total movement distance of 0.838." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1580", "trajectory_length": 384, "key_frame_indices": [ 0, 290, 383 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1580.json" } }, { "id": "droid_cotrack_episode_2041", "task": "Empty the beans in the machine", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2041/frame_0000.jpg", "droid-cotrack/images/episode_2041/frame_0349.jpg", "droid-cotrack/images/episode_2041/frame_0599.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Empty the beans in the machine?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Empty the beans in the machine, execute the following phases: 1) Initial approach phase (start at [0.607, 0.514]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.602, 0.504]). The trajectory involves 600 precise waypoints with total movement distance of 1.011." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2041", "trajectory_length": 600, "key_frame_indices": [ 0, 349, 599 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2041.json" } }, { "id": "droid_cotrack_episode_1265", "task": "Move the soda can to the left counter", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1265/frame_0000.jpg", "droid-cotrack/images/episode_1265/frame_0079.jpg", "droid-cotrack/images/episode_1265/frame_0134.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the soda can to the left counter?" }, { "from": "gpt", "value": "To complete this repositioning: Move the soda can to the left counter, execute the following phases: 1) Initial approach phase (start at [0.483, 0.920]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.336, 0.809]). The trajectory involves 135 precise waypoints with total movement distance of 0.332." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1265", "trajectory_length": 135, "key_frame_indices": [ 0, 79, 134 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1265.json" } }, { "id": "droid_cotrack_episode_1404", "task": "Take the blue cup out of the white bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1404/frame_0000.jpg", "droid-cotrack/images/episode_1404/frame_0074.jpg", "droid-cotrack/images/episode_1404/frame_0129.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the blue cup out of the white bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Take the blue cup out of the white bowl, execute the following phases: 1) Initial approach phase (start at [0.745, 0.430]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.508, 0.406]). The trajectory involves 130 precise waypoints with total movement distance of 0.732." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1404", "trajectory_length": 130, "key_frame_indices": [ 0, 74, 129 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1404.json" } }, { "id": "droid_cotrack_episode_4171", "task": "Pick the blue cup and stack it in the orange cup; Put the blue cup inside the orange cup; Put the blue cup in the orange cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4171/frame_0000.jpg", "droid-cotrack/images/episode_4171/frame_0103.jpg", "droid-cotrack/images/episode_4171/frame_0128.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the blue cup and stack it in the orange cup; Put the blue cup inside the orange cup; Put the blue cup in the orange cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the blue cup and stack it in the orange cup; Put the blue cup inside the orange cup; Put the blue cup in the orange cup, execute the following phases: 1) Initial approach phase (start at [0.549, 0.702]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.579, 0.633]). The trajectory involves 129 precise waypoints with total movement distance of 0.312." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4171", "trajectory_length": 129, "key_frame_indices": [ 0, 103, 128 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4171.json" } }, { "id": "droid_cotrack_episode_10105", "task": "Put the marker inside the bowl; Put the marker inside the container.; Put the marker in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10105/frame_0000.jpg", "droid-cotrack/images/episode_10105/frame_0144.jpg", "droid-cotrack/images/episode_10105/frame_0209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker inside the bowl; Put the marker inside the container.; Put the marker in the bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the marker inside the bowl; Put the marker inside the container.; Put the marker in the bowl, execute the following phases: 1) Initial approach phase (start at [0.520, 0.767]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.507, 0.698]). The trajectory involves 210 precise waypoints with total movement distance of 0.412." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10105", "trajectory_length": 210, "key_frame_indices": [ 0, 144, 209 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10105.json" } }, { "id": "droid_cotrack_episode_4432", "task": "Fold the yellow towel from right to left; Fold the towel in half; Fold the cloth", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4432/frame_0000.jpg", "droid-cotrack/images/episode_4432/frame_0235.jpg", "droid-cotrack/images/episode_4432/frame_0375.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the yellow towel from right to left; Fold the towel in half; Fold the cloth?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Fold the yellow towel from right to left; Fold the towel in half; Fold the cloth, execute the following phases: 1) Initial approach phase (start at [0.525, 0.806]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.523, 0.825]). The trajectory involves 376 precise waypoints with total movement distance of 0.326." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4432", "trajectory_length": 376, "key_frame_indices": [ 0, 235, 375 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4432.json" } }, { "id": "droid_cotrack_episode_510", "task": "Pick the marker and put it in the cup; Put the pen inside the cup; Put the pen in the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_510/frame_0000.jpg", "droid-cotrack/images/episode_510/frame_0081.jpg", "droid-cotrack/images/episode_510/frame_0271.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the marker and put it in the cup; Put the pen inside the cup; Put the pen in the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the marker and put it in the cup; Put the pen inside the cup; Put the pen in the cup, execute the following phases: 1) Initial approach phase (start at [0.761, 0.979]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.770, 0.742]). The trajectory involves 272 precise waypoints with total movement distance of 1.325." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_510", "trajectory_length": 272, "key_frame_indices": [ 0, 81, 271 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_510.json" } }, { "id": "droid_cotrack_episode_104", "task": "Put the marker in the cup; Put the marker in the cup; Put the marker inside the red mug", "selected_step": 1, "image": [ "droid-cotrack/images/episode_104/frame_0000.jpg", "droid-cotrack/images/episode_104/frame_0145.jpg", "droid-cotrack/images/episode_104/frame_0245.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the cup; Put the marker in the cup; Put the marker inside the red mug?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the marker in the cup; Put the marker in the cup; Put the marker inside the red mug, execute the following phases: 1) Initial approach phase (start at [0.588, 0.485]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.597, 0.484]). The trajectory involves 246 precise waypoints with total movement distance of 0.225." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_104", "trajectory_length": 246, "key_frame_indices": [ 0, 145, 245 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_104.json" } }, { "id": "droid_cotrack_episode_38", "task": "Put the marker into the mug.; Pick up the pen and put it in the cup; Put the marker inside the mug", "selected_step": 1, "image": [ "droid-cotrack/images/episode_38/frame_0000.jpg", "droid-cotrack/images/episode_38/frame_0381.jpg", "droid-cotrack/images/episode_38/frame_0430.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker into the mug.; Pick up the pen and put it in the cup; Put the marker inside the mug?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the marker into the mug.; Pick up the pen and put it in the cup; Put the marker inside the mug, execute the following phases: 1) Initial approach phase (start at [0.646, 0.455]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.708, 0.557]). The trajectory involves 431 precise waypoints with total movement distance of 0.868." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_38", "trajectory_length": 431, "key_frame_indices": [ 0, 381, 430 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_38.json" } }, { "id": "droid_cotrack_episode_6740", "task": "Remove the glass lid from the black pot; Take the lid off the pot; Take the lid on the pot and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6740/frame_0000.jpg", "droid-cotrack/images/episode_6740/frame_0172.jpg", "droid-cotrack/images/episode_6740/frame_0176.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the glass lid from the black pot; Take the lid off the pot; Take the lid on the pot and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the glass lid from the black pot; Take the lid off the pot; Take the lid on the pot and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.422, 0.370]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.475, 0.466]). The trajectory involves 177 precise waypoints with total movement distance of 0.846." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6740", "trajectory_length": 177, "key_frame_indices": [ 0, 172, 176 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6740.json" } }, { "id": "droid_cotrack_episode_642", "task": "Open the top left door of the cabinet.; Open the cupboard; Open the top left cupboard door", "selected_step": 1, "image": [ "droid-cotrack/images/episode_642/frame_0000.jpg", "droid-cotrack/images/episode_642/frame_0201.jpg", "droid-cotrack/images/episode_642/frame_0227.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the top left door of the cabinet.; Open the cupboard; Open the top left cupboard door?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the top left door of the cabinet.; Open the cupboard; Open the top left cupboard door, execute the following phases: 1) Initial approach phase (start at [0.602, 0.287]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.590, 0.275]). The trajectory involves 228 precise waypoints with total movement distance of 0.297." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_642", "trajectory_length": 228, "key_frame_indices": [ 0, 201, 227 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_642.json" } }, { "id": "droid_cotrack_episode_6351", "task": "Place the green block in the black box; Place the green block in the pen holder; Put the green block inside the black box", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6351/frame_0000.jpg", "droid-cotrack/images/episode_6351/frame_0221.jpg", "droid-cotrack/images/episode_6351/frame_0352.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the green block in the black box; Place the green block in the pen holder; Put the green block inside the black box?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Place the green block in the black box; Place the green block in the pen holder; Put the green block inside the black box, execute the following phases: 1) Initial approach phase (start at [0.645, 0.670]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.553, 0.567]). The trajectory involves 353 precise waypoints with total movement distance of 0.680." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6351", "trajectory_length": 353, "key_frame_indices": [ 0, 221, 352 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6351.json" } }, { "id": "droid_cotrack_episode_10318", "task": "Pick up the white cable and put it in the box.; Pick up the white object and put it in the gray storage box; Put the white cable in the grey box", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10318/frame_0000.jpg", "droid-cotrack/images/episode_10318/frame_0153.jpg", "droid-cotrack/images/episode_10318/frame_0160.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the white cable and put it in the box.; Pick up the white object and put it in the gray storage box; Put the white cable in the grey box?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the white cable and put it in the box.; Pick up the white object and put it in the gray storage box; Put the white cable in the grey box, execute the following phases: 1) Initial approach phase (start at [0.593, 0.527]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.595, 0.526]). The trajectory involves 161 precise waypoints with total movement distance of 0.073." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10318", "trajectory_length": 161, "key_frame_indices": [ 0, 153, 160 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10318.json" } }, { "id": "droid_cotrack_episode_798", "task": "Remove the pen from the mug and put it on the table; Remove the pen from the cup and put it on the table; Remove the pen from the mug", "selected_step": 1, "image": [ "droid-cotrack/images/episode_798/frame_0000.jpg", "droid-cotrack/images/episode_798/frame_0204.jpg", "droid-cotrack/images/episode_798/frame_0226.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the pen from the mug and put it on the table; Remove the pen from the cup and put it on the table; Remove the pen from the mug?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the pen from the mug and put it on the table; Remove the pen from the cup and put it on the table; Remove the pen from the mug, execute the following phases: 1) Initial approach phase (start at [0.464, 0.466]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.456, 0.515]). The trajectory involves 227 precise waypoints with total movement distance of 0.213." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_798", "trajectory_length": 227, "key_frame_indices": [ 0, 204, 226 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_798.json" } }, { "id": "droid_cotrack_episode_4556", "task": "Close the drawer; Close the top drawer of the kitchen unit; Close the drawer of the cabinet at the left side of the oven", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4556/frame_0000.jpg", "droid-cotrack/images/episode_4556/frame_0081.jpg", "droid-cotrack/images/episode_4556/frame_0088.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the drawer; Close the top drawer of the kitchen unit; Close the drawer of the cabinet at the left side of the oven?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the drawer; Close the top drawer of the kitchen unit; Close the drawer of the cabinet at the left side of the oven, execute the following phases: 1) Initial approach phase (start at [0.478, 0.491]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.375, 0.359]). The trajectory involves 89 precise waypoints with total movement distance of 0.222." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4556", "trajectory_length": 89, "key_frame_indices": [ 0, 81, 88 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4556.json" } }, { "id": "droid_cotrack_episode_1716", "task": "Wipe the counter with the towel; Pick up the cloth and wipe the counter; Use the cloth to wipe the counter", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1716/frame_0000.jpg", "droid-cotrack/images/episode_1716/frame_0257.jpg", "droid-cotrack/images/episode_1716/frame_0480.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Wipe the counter with the towel; Pick up the cloth and wipe the counter; Use the cloth to wipe the counter?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Wipe the counter with the towel; Pick up the cloth and wipe the counter; Use the cloth to wipe the counter, execute the following phases: 1) Initial approach phase (start at [0.412, 0.777]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.425, 0.775]). The trajectory involves 481 precise waypoints with total movement distance of 0.384." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1716", "trajectory_length": 481, "key_frame_indices": [ 0, 257, 480 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1716.json" } }, { "id": "droid_cotrack_episode_924", "task": "Remove the marker from the mug.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_924/frame_0000.jpg", "droid-cotrack/images/episode_924/frame_0146.jpg", "droid-cotrack/images/episode_924/frame_0231.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker from the mug.?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the marker from the mug., execute the following phases: 1) Initial approach phase (start at [0.465, 0.750]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.463, 0.748]). The trajectory involves 232 precise waypoints with total movement distance of 0.192." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_924", "trajectory_length": 232, "key_frame_indices": [ 0, 146, 231 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_924.json" } }, { "id": "droid_cotrack_episode_260", "task": "Move the cup closer to the marker; Move the cup to the left; Move the cup on the table to the left.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_260/frame_0000.jpg", "droid-cotrack/images/episode_260/frame_0136.jpg", "droid-cotrack/images/episode_260/frame_0252.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup closer to the marker; Move the cup to the left; Move the cup on the table to the left.?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup closer to the marker; Move the cup to the left; Move the cup on the table to the left., execute the following phases: 1) Initial approach phase (start at [0.641, 0.622]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.651, 0.397]). The trajectory involves 253 precise waypoints with total movement distance of 0.325." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_260", "trajectory_length": 253, "key_frame_indices": [ 0, 136, 252 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_260.json" } }, { "id": "droid_cotrack_episode_6169", "task": "Open the bottom drawer of the right cabinet; Open the bottom drawer of the right cabinet; Open the bottom drawer on the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6169/frame_0000.jpg", "droid-cotrack/images/episode_6169/frame_0213.jpg", "droid-cotrack/images/episode_6169/frame_0251.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the bottom drawer of the right cabinet; Open the bottom drawer of the right cabinet; Open the bottom drawer on the right?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the bottom drawer of the right cabinet; Open the bottom drawer of the right cabinet; Open the bottom drawer on the right, execute the following phases: 1) Initial approach phase (start at [0.652, 0.751]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.752, 0.912]). The trajectory involves 252 precise waypoints with total movement distance of 0.383." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6169", "trajectory_length": 252, "key_frame_indices": [ 0, 213, 251 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6169.json" } }, { "id": "droid_cotrack_episode_1307", "task": "Pick up the striped cloth from the left side of the bed and place it on the white stool; Put the towel on the chair; Put the towel on the white seat", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1307/frame_0000.jpg", "droid-cotrack/images/episode_1307/frame_0252.jpg", "droid-cotrack/images/episode_1307/frame_0308.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the striped cloth from the left side of the bed and place it on the white stool; Put the towel on the chair; Put the towel on the white seat?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the striped cloth from the left side of the bed and place it on the white stool; Put the towel on the chair; Put the towel on the white seat, execute the following phases: 1) Initial approach phase (start at [0.435, 0.322]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.595, 0.379]). The trajectory involves 309 precise waypoints with total movement distance of 1.311." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1307", "trajectory_length": 309, "key_frame_indices": [ 0, 252, 308 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1307.json" } }, { "id": "droid_cotrack_episode_4247", "task": "Remove the marker from the mug and put it on the table; Remove the marker from the cup; Remove the marker from the cup and place it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4247/frame_0000.jpg", "droid-cotrack/images/episode_4247/frame_0061.jpg", "droid-cotrack/images/episode_4247/frame_0106.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker from the mug and put it on the table; Remove the marker from the cup; Remove the marker from the cup and place it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the marker from the mug and put it on the table; Remove the marker from the cup; Remove the marker from the cup and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.662, 0.592]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.596, 0.463]). The trajectory involves 107 precise waypoints with total movement distance of 0.450." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4247", "trajectory_length": 107, "key_frame_indices": [ 0, 61, 106 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4247.json" } }, { "id": "droid_cotrack_episode_4575", "task": "Put the purple object on the plate.; Put the purple plush on the white plate; Put the purple plush toy on the black tray", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4575/frame_0000.jpg", "droid-cotrack/images/episode_4575/frame_0053.jpg", "droid-cotrack/images/episode_4575/frame_0118.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the purple object on the plate.; Put the purple plush on the white plate; Put the purple plush toy on the black tray?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the purple object on the plate.; Put the purple plush on the white plate; Put the purple plush toy on the black tray, execute the following phases: 1) Initial approach phase (start at [0.571, 0.620]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.524, 0.503]). The trajectory involves 119 precise waypoints with total movement distance of 0.351." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4575", "trajectory_length": 119, "key_frame_indices": [ 0, 53, 118 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4575.json" } }, { "id": "droid_cotrack_episode_953", "task": "Place the pink bowl inside the black bowl; Put the orange bowl in the black bowl; Put the pink bowl inside the black bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_953/frame_0000.jpg", "droid-cotrack/images/episode_953/frame_0111.jpg", "droid-cotrack/images/episode_953/frame_0146.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the pink bowl inside the black bowl; Put the orange bowl in the black bowl; Put the pink bowl inside the black bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Place the pink bowl inside the black bowl; Put the orange bowl in the black bowl; Put the pink bowl inside the black bowl, execute the following phases: 1) Initial approach phase (start at [0.663, 0.474]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.665, 0.471]). The trajectory involves 147 precise waypoints with total movement distance of 0.113." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_953", "trajectory_length": 147, "key_frame_indices": [ 0, 111, 146 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_953.json" } }, { "id": "droid_cotrack_episode_4147", "task": "Slide the lid of the shape sorting box closed", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4147/frame_0000.jpg", "droid-cotrack/images/episode_4147/frame_0096.jpg", "droid-cotrack/images/episode_4147/frame_0115.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the lid of the shape sorting box closed?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the lid of the shape sorting box closed, execute the following phases: 1) Initial approach phase (start at [0.527, 0.681]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.494, 0.673]). The trajectory involves 116 precise waypoints with total movement distance of 0.086." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4147", "trajectory_length": 116, "key_frame_indices": [ 0, 96, 115 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4147.json" } }, { "id": "droid_cotrack_episode_1639", "task": "Press the button on the white lid then take the lid and put it on the table; Open the lid to the container; Press down on the white lid and remove it from the food container", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1639/frame_0000.jpg", "droid-cotrack/images/episode_1639/frame_0505.jpg", "droid-cotrack/images/episode_1639/frame_0575.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Press the button on the white lid then take the lid and put it on the table; Open the lid to the container; Press down on the white lid and remove it from the food container?" }, { "from": "gpt", "value": "To complete this repositioning: Press the button on the white lid then take the lid and put it on the table; Open the lid to the container; Press down on the white lid and remove it from the food container, execute the following phases: 1) Initial approach phase (start at [0.630, 0.381]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.644, 0.385]). The trajectory involves 576 precise waypoints with total movement distance of 0.607." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1639", "trajectory_length": 576, "key_frame_indices": [ 0, 505, 575 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1639.json" } }, { "id": "droid_cotrack_episode_4353", "task": "Move the yellow object to the right; Move the yellow plush to the far right; Move the plastic bread to the right.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4353/frame_0000.jpg", "droid-cotrack/images/episode_4353/frame_0111.jpg", "droid-cotrack/images/episode_4353/frame_0127.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the yellow object to the right; Move the yellow plush to the far right; Move the plastic bread to the right.?" }, { "from": "gpt", "value": "To complete this repositioning: Move the yellow object to the right; Move the yellow plush to the far right; Move the plastic bread to the right., execute the following phases: 1) Initial approach phase (start at [0.462, 0.386]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.595, 0.662]). The trajectory involves 128 precise waypoints with total movement distance of 0.575." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4353", "trajectory_length": 128, "key_frame_indices": [ 0, 111, 127 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4353.json" } }, { "id": "droid_cotrack_episode_10269", "task": "Put the green plush toy in the pink pot; Place the green plush toy in the bowl; Put the blue object inside the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10269/frame_0000.jpg", "droid-cotrack/images/episode_10269/frame_0113.jpg", "droid-cotrack/images/episode_10269/frame_0149.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the green plush toy in the pink pot; Place the green plush toy in the bowl; Put the blue object inside the bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the green plush toy in the pink pot; Place the green plush toy in the bowl; Put the blue object inside the bowl, execute the following phases: 1) Initial approach phase (start at [0.565, 0.667]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.585, 0.806]). The trajectory involves 150 precise waypoints with total movement distance of 0.396." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10269", "trajectory_length": 150, "key_frame_indices": [ 0, 113, 149 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10269.json" } }, { "id": "droid_cotrack_episode_10001", "task": "Remove the gray toy from the bowl and put in it in the toy sink; Remove the grey doll from the bowl; Put the grey plush toy inside the sink.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10001/frame_0000.jpg", "droid-cotrack/images/episode_10001/frame_0193.jpg", "droid-cotrack/images/episode_10001/frame_0285.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the gray toy from the bowl and put in it in the toy sink; Remove the grey doll from the bowl; Put the grey plush toy inside the sink.?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the gray toy from the bowl and put in it in the toy sink; Remove the grey doll from the bowl; Put the grey plush toy inside the sink., execute the following phases: 1) Initial approach phase (start at [0.362, 0.148]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.362, 0.151]). The trajectory involves 286 precise waypoints with total movement distance of 0.089." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10001", "trajectory_length": 286, "key_frame_indices": [ 0, 193, 285 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10001.json" } }, { "id": "droid_cotrack_episode_10262", "task": "Pick the cup on the left and move it to the right on the counter; Move the clear small bottle to the right; Shift the small cup to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10262/frame_0000.jpg", "droid-cotrack/images/episode_10262/frame_0075.jpg", "droid-cotrack/images/episode_10262/frame_0154.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the cup on the left and move it to the right on the counter; Move the clear small bottle to the right; Shift the small cup to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Pick the cup on the left and move it to the right on the counter; Move the clear small bottle to the right; Shift the small cup to the right, execute the following phases: 1) Initial approach phase (start at [0.346, 0.683]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.511, 0.497]). The trajectory involves 155 precise waypoints with total movement distance of 0.492." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10262", "trajectory_length": 155, "key_frame_indices": [ 0, 75, 154 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10262.json" } }, { "id": "droid_cotrack_episode_2109", "task": "Click on the middle switch on the extension cord; Turn on a switch on the extension cord; Turn on the switch in the middle", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2109/frame_0000.jpg", "droid-cotrack/images/episode_2109/frame_0077.jpg", "droid-cotrack/images/episode_2109/frame_0159.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Click on the middle switch on the extension cord; Turn on a switch on the extension cord; Turn on the switch in the middle?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Click on the middle switch on the extension cord; Turn on a switch on the extension cord; Turn on the switch in the middle, execute the following phases: 1) Initial approach phase (start at [0.561, 0.448]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.564, 0.440]). The trajectory involves 160 precise waypoints with total movement distance of 0.059." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2109", "trajectory_length": 160, "key_frame_indices": [ 0, 77, 159 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2109.json" } }, { "id": "droid_cotrack_episode_629", "task": "Use the silver lid to cover the silver teapot; Pick up the lid and close the kettle; Cover the tea pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_629/frame_0000.jpg", "droid-cotrack/images/episode_629/frame_0129.jpg", "droid-cotrack/images/episode_629/frame_0275.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the silver lid to cover the silver teapot; Pick up the lid and close the kettle; Cover the tea pot?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Use the silver lid to cover the silver teapot; Pick up the lid and close the kettle; Cover the tea pot, execute the following phases: 1) Initial approach phase (start at [0.580, 0.544]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.514, 0.542]). The trajectory involves 276 precise waypoints with total movement distance of 0.240." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_629", "trajectory_length": 276, "key_frame_indices": [ 0, 129, 275 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_629.json" } }, { "id": "droid_cotrack_episode_474", "task": "Put the silver tape in the bowl; Place the tape inside the bowl; Put the masking tape in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_474/frame_0000.jpg", "droid-cotrack/images/episode_474/frame_0138.jpg", "droid-cotrack/images/episode_474/frame_0185.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the silver tape in the bowl; Place the tape inside the bowl; Put the masking tape in the bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the silver tape in the bowl; Place the tape inside the bowl; Put the masking tape in the bowl, execute the following phases: 1) Initial approach phase (start at [0.474, 0.774]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.777, 0.805]). The trajectory involves 186 precise waypoints with total movement distance of 0.781." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_474", "trajectory_length": 186, "key_frame_indices": [ 0, 138, 185 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_474.json" } }, { "id": "droid_cotrack_episode_6257", "task": "Put the orange object in the bowl; Put the orange object inside the bowl; Pick up the object from the table and put it in the black-yellow bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6257/frame_0000.jpg", "droid-cotrack/images/episode_6257/frame_0075.jpg", "droid-cotrack/images/episode_6257/frame_0094.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange object in the bowl; Put the orange object inside the bowl; Pick up the object from the table and put it in the black-yellow bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the orange object in the bowl; Put the orange object inside the bowl; Pick up the object from the table and put it in the black-yellow bowl, execute the following phases: 1) Initial approach phase (start at [0.493, 0.491]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.561, 0.524]). The trajectory involves 95 precise waypoints with total movement distance of 0.151." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6257", "trajectory_length": 95, "key_frame_indices": [ 0, 75, 94 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6257.json" } }, { "id": "droid_cotrack_episode_1057", "task": "Remove the toy from the shelf and put it on the table.; Put the turnip plushie on the table; Pick up the plush toy from the shelf and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1057/frame_0000.jpg", "droid-cotrack/images/episode_1057/frame_0175.jpg", "droid-cotrack/images/episode_1057/frame_0213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the toy from the shelf and put it on the table.; Put the turnip plushie on the table; Pick up the plush toy from the shelf and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Remove the toy from the shelf and put it on the table.; Put the turnip plushie on the table; Pick up the plush toy from the shelf and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.429, 0.181]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.505, 0.816]). The trajectory involves 214 precise waypoints with total movement distance of 0.878." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1057", "trajectory_length": 214, "key_frame_indices": [ 0, 175, 213 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1057.json" } }, { "id": "droid_cotrack_episode_1053", "task": "Push in the side drawer", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1053/frame_0000.jpg", "droid-cotrack/images/episode_1053/frame_0159.jpg", "droid-cotrack/images/episode_1053/frame_0493.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push in the side drawer?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push in the side drawer, execute the following phases: 1) Initial approach phase (start at [0.649, 0.618]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.649, 0.619]). The trajectory involves 494 precise waypoints with total movement distance of 0.198." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1053", "trajectory_length": 494, "key_frame_indices": [ 0, 159, 493 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1053.json" } }, { "id": "droid_cotrack_episode_1298", "task": "Take the marker out of the cup, put it on the table then put it back in the cup; Remove the blue marker from the yellow mug and place it on the table, then put it back in the yellow mug; Remove the marker from the yellow cup and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1298/frame_0000.jpg", "droid-cotrack/images/episode_1298/frame_0311.jpg", "droid-cotrack/images/episode_1298/frame_0362.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the marker out of the cup, put it on the table then put it back in the cup; Remove the blue marker from the yellow mug and place it on the table, then put it back in the yellow mug; Remove the marker from the yellow cup and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Take the marker out of the cup, put it on the table then put it back in the cup; Remove the blue marker from the yellow mug and place it on the table, then put it back in the yellow mug; Remove the marker from the yellow cup and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.560, 0.448]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.606, 0.477]). The trajectory involves 363 precise waypoints with total movement distance of 1.079." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1298", "trajectory_length": 363, "key_frame_indices": [ 0, 311, 362 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1298.json" } }, { "id": "droid_cotrack_episode_2233", "task": "Pick the heat gun and put it on the counter; Remove the blue object from the machine; Put the soldering gun on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2233/frame_0000.jpg", "droid-cotrack/images/episode_2233/frame_0191.jpg", "droid-cotrack/images/episode_2233/frame_0268.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the heat gun and put it on the counter; Remove the blue object from the machine; Put the soldering gun on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the heat gun and put it on the counter; Remove the blue object from the machine; Put the soldering gun on the table, execute the following phases: 1) Initial approach phase (start at [0.257, 0.820]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.379, 0.749]). The trajectory involves 269 precise waypoints with total movement distance of 0.823." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2233", "trajectory_length": 269, "key_frame_indices": [ 0, 191, 268 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2233.json" } }, { "id": "droid_cotrack_episode_150", "task": "Put the sock on the windowsill; Pick up the black sock and put it on the counter; Put the black sock on the window sill", "selected_step": 1, "image": [ "droid-cotrack/images/episode_150/frame_0000.jpg", "droid-cotrack/images/episode_150/frame_0174.jpg", "droid-cotrack/images/episode_150/frame_0226.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the sock on the windowsill; Pick up the black sock and put it on the counter; Put the black sock on the window sill?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the sock on the windowsill; Pick up the black sock and put it on the counter; Put the black sock on the window sill, execute the following phases: 1) Initial approach phase (start at [0.460, 0.236]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.688, 0.157]). The trajectory involves 227 precise waypoints with total movement distance of 0.487." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_150", "trajectory_length": 227, "key_frame_indices": [ 0, 174, 226 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_150.json" } }, { "id": "droid_cotrack_episode_6161", "task": "Put the marker in the bowl; Put the marker inside the bowl; Put the marker in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6161/frame_0000.jpg", "droid-cotrack/images/episode_6161/frame_0107.jpg", "droid-cotrack/images/episode_6161/frame_0120.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the bowl; Put the marker inside the bowl; Put the marker in the bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the marker in the bowl; Put the marker inside the bowl; Put the marker in the bowl, execute the following phases: 1) Initial approach phase (start at [0.344, 0.559]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.557, 0.697]). The trajectory involves 121 precise waypoints with total movement distance of 0.476." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6161", "trajectory_length": 121, "key_frame_indices": [ 0, 107, 120 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6161.json" } }, { "id": "droid_cotrack_episode_362", "task": "Put the black masking tape on the plate; Put the black tape on the plate; Put the tape on the plate", "selected_step": 1, "image": [ "droid-cotrack/images/episode_362/frame_0000.jpg", "droid-cotrack/images/episode_362/frame_0077.jpg", "droid-cotrack/images/episode_362/frame_0129.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the black masking tape on the plate; Put the black tape on the plate; Put the tape on the plate?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the black masking tape on the plate; Put the black tape on the plate; Put the tape on the plate, execute the following phases: 1) Initial approach phase (start at [0.541, 0.348]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.317, 0.360]). The trajectory involves 130 precise waypoints with total movement distance of 0.495." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_362", "trajectory_length": 130, "key_frame_indices": [ 0, 77, 129 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_362.json" } }, { "id": "droid_cotrack_episode_6395", "task": "Pick the marker and put it in the bowl; Put the pen on the table in the bowl; Put the pen in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6395/frame_0000.jpg", "droid-cotrack/images/episode_6395/frame_0140.jpg", "droid-cotrack/images/episode_6395/frame_0155.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the marker and put it in the bowl; Put the pen on the table in the bowl; Put the pen in the bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the marker and put it in the bowl; Put the pen on the table in the bowl; Put the pen in the bowl, execute the following phases: 1) Initial approach phase (start at [0.497, 0.464]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.418, 0.357]). The trajectory involves 156 precise waypoints with total movement distance of 0.322." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6395", "trajectory_length": 156, "key_frame_indices": [ 0, 140, 155 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6395.json" } }, { "id": "droid_cotrack_episode_10075", "task": "Pick up the blue block and put it on top of the green and; Put the blue block over the green block; Stack the blue block onto the stack of blocks", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10075/frame_0000.jpg", "droid-cotrack/images/episode_10075/frame_0105.jpg", "droid-cotrack/images/episode_10075/frame_0185.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the blue block and put it on top of the green and; Put the blue block over the green block; Stack the blue block onto the stack of blocks?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the blue block and put it on top of the green and; Put the blue block over the green block; Stack the blue block onto the stack of blocks, execute the following phases: 1) Initial approach phase (start at [0.539, 0.316]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.444, 0.117]). The trajectory involves 186 precise waypoints with total movement distance of 0.524." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10075", "trajectory_length": 186, "key_frame_indices": [ 0, 105, 185 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10075.json" } }, { "id": "droid_cotrack_episode_6357", "task": "Put the blue cup inside the orange cup; Put the light blue cup in the orange cup; Put the blue cup in the orange cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6357/frame_0000.jpg", "droid-cotrack/images/episode_6357/frame_0051.jpg", "droid-cotrack/images/episode_6357/frame_0120.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the blue cup inside the orange cup; Put the light blue cup in the orange cup; Put the blue cup in the orange cup?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the blue cup inside the orange cup; Put the light blue cup in the orange cup; Put the blue cup in the orange cup, execute the following phases: 1) Initial approach phase (start at [0.534, 0.670]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.546, 0.642]). The trajectory involves 121 precise waypoints with total movement distance of 0.090." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6357", "trajectory_length": 121, "key_frame_indices": [ 0, 51, 120 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6357.json" } }, { "id": "droid_cotrack_episode_6297", "task": "Remove the bottle from the mug and put it on the table; Remove the bottle with the black lid from the mug and put it on the table; Remove the bottle from the mug and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6297/frame_0000.jpg", "droid-cotrack/images/episode_6297/frame_0164.jpg", "droid-cotrack/images/episode_6297/frame_0285.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the bottle from the mug and put it on the table; Remove the bottle with the black lid from the mug and put it on the table; Remove the bottle from the mug and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the bottle from the mug and put it on the table; Remove the bottle with the black lid from the mug and put it on the table; Remove the bottle from the mug and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.376, 0.550]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.383, 0.550]). The trajectory involves 286 precise waypoints with total movement distance of 0.100." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6297", "trajectory_length": 286, "key_frame_indices": [ 0, 164, 285 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6297.json" } }, { "id": "droid_cotrack_episode_426", "task": "Put the pen inside the light blue cup; Put the pen inside the cup; Put the pen in the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_426/frame_0000.jpg", "droid-cotrack/images/episode_426/frame_0250.jpg", "droid-cotrack/images/episode_426/frame_0254.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pen inside the light blue cup; Put the pen inside the cup; Put the pen in the cup?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the pen inside the light blue cup; Put the pen inside the cup; Put the pen in the cup, execute the following phases: 1) Initial approach phase (start at [0.536, 0.522]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.568, 0.329]). The trajectory involves 255 precise waypoints with total movement distance of 0.702." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_426", "trajectory_length": 255, "key_frame_indices": [ 0, 250, 254 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_426.json" } }, { "id": "droid_cotrack_episode_1462", "task": "Turn off the stove light", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1462/frame_0000.jpg", "droid-cotrack/images/episode_1462/frame_0036.jpg", "droid-cotrack/images/episode_1462/frame_0235.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn off the stove light?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Turn off the stove light, execute the following phases: 1) Initial approach phase (start at [0.407, 0.455]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.407, 0.455]). The trajectory involves 236 precise waypoints with total movement distance of 0.109." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1462", "trajectory_length": 236, "key_frame_indices": [ 0, 36, 235 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1462.json" } }, { "id": "droid_cotrack_episode_2011", "task": "Place the marker in the silver pot; Put the black marker in the pot; Put the marker in the pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2011/frame_0000.jpg", "droid-cotrack/images/episode_2011/frame_0123.jpg", "droid-cotrack/images/episode_2011/frame_0213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the marker in the silver pot; Put the black marker in the pot; Put the marker in the pot?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Place the marker in the silver pot; Put the black marker in the pot; Put the marker in the pot, execute the following phases: 1) Initial approach phase (start at [0.659, 0.565]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.532, 0.467]). The trajectory involves 214 precise waypoints with total movement distance of 0.487." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2011", "trajectory_length": 214, "key_frame_indices": [ 0, 123, 213 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2011.json" } }, { "id": "droid_cotrack_episode_6822", "task": "Take the small bottle with a blue cap located near the mirror and place it to the right; Move the bottle in the blue lid forward; Move the bottle with the blue lid backwards.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6822/frame_0000.jpg", "droid-cotrack/images/episode_6822/frame_0134.jpg", "droid-cotrack/images/episode_6822/frame_0206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the small bottle with a blue cap located near the mirror and place it to the right; Move the bottle in the blue lid forward; Move the bottle with the blue lid backwards.?" }, { "from": "gpt", "value": "To complete this repositioning: Take the small bottle with a blue cap located near the mirror and place it to the right; Move the bottle in the blue lid forward; Move the bottle with the blue lid backwards., execute the following phases: 1) Initial approach phase (start at [0.659, 0.168]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.834, 0.259]). The trajectory involves 207 precise waypoints with total movement distance of 0.618." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6822", "trajectory_length": 207, "key_frame_indices": [ 0, 134, 206 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6822.json" } }, { "id": "droid_cotrack_episode_1573", "task": "Pick up the spoon and put it in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1573/frame_0000.jpg", "droid-cotrack/images/episode_1573/frame_0311.jpg", "droid-cotrack/images/episode_1573/frame_0457.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the spoon and put it in the bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the spoon and put it in the bowl, execute the following phases: 1) Initial approach phase (start at [0.542, 0.838]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.533, 0.905]). The trajectory involves 458 precise waypoints with total movement distance of 0.768." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1573", "trajectory_length": 458, "key_frame_indices": [ 0, 311, 457 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1573.json" } }, { "id": "droid_cotrack_episode_1405", "task": "Move the towel to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1405/frame_0000.jpg", "droid-cotrack/images/episode_1405/frame_0044.jpg", "droid-cotrack/images/episode_1405/frame_0069.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the towel to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the towel to the left, execute the following phases: 1) Initial approach phase (start at [0.665, 0.684]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.623, 0.521]). The trajectory involves 70 precise waypoints with total movement distance of 0.274." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1405", "trajectory_length": 70, "key_frame_indices": [ 0, 44, 69 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1405.json" } }, { "id": "droid_cotrack_episode_6084", "task": "Put the cup in the bowl; Put the cup in the bowl; Put the cup in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6084/frame_0000.jpg", "droid-cotrack/images/episode_6084/frame_0127.jpg", "droid-cotrack/images/episode_6084/frame_0197.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the cup in the bowl; Put the cup in the bowl; Put the cup in the bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the cup in the bowl; Put the cup in the bowl; Put the cup in the bowl, execute the following phases: 1) Initial approach phase (start at [0.484, 0.665]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.525, 0.525]). The trajectory involves 198 precise waypoints with total movement distance of 0.658." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6084", "trajectory_length": 198, "key_frame_indices": [ 0, 127, 197 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6084.json" } }, { "id": "droid_cotrack_episode_10282", "task": "Put the carton box from the cabinet on the counter top", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10282/frame_0000.jpg", "droid-cotrack/images/episode_10282/frame_0358.jpg", "droid-cotrack/images/episode_10282/frame_0419.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the carton box from the cabinet on the counter top?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the carton box from the cabinet on the counter top, execute the following phases: 1) Initial approach phase (start at [0.410, 0.583]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.548, 0.665]). The trajectory involves 420 precise waypoints with total movement distance of 1.494." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10282", "trajectory_length": 420, "key_frame_indices": [ 0, 358, 419 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10282.json" } }, { "id": "droid_cotrack_episode_1797", "task": "Pick up the kitchen paper from the bowl and put it on the counter; Remove the paper towel roll from the bowl and stand it upright on the counter; Pick up the kitchen paper towel and put it on the table then after put it back in the blue bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1797/frame_0000.jpg", "droid-cotrack/images/episode_1797/frame_0309.jpg", "droid-cotrack/images/episode_1797/frame_1102.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the kitchen paper from the bowl and put it on the counter; Remove the paper towel roll from the bowl and stand it upright on the counter; Pick up the kitchen paper towel and put it on the table then after put it back in the blue bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the kitchen paper from the bowl and put it on the counter; Remove the paper towel roll from the bowl and stand it upright on the counter; Pick up the kitchen paper towel and put it on the table then after put it back in the blue bowl, execute the following phases: 1) Initial approach phase (start at [0.633, 0.822]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.641, 0.830]). The trajectory involves 1103 precise waypoints with total movement distance of 0.696." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1797", "trajectory_length": 1103, "key_frame_indices": [ 0, 309, 1102 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1797.json" } }, { "id": "droid_cotrack_episode_2179", "task": "Close the microwave door; Close the microwave door; Close the microwave door", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2179/frame_0000.jpg", "droid-cotrack/images/episode_2179/frame_0062.jpg", "droid-cotrack/images/episode_2179/frame_0349.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the microwave door; Close the microwave door; Close the microwave door?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the microwave door; Close the microwave door; Close the microwave door, execute the following phases: 1) Initial approach phase (start at [0.657, 0.723]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.411, 0.476]). The trajectory involves 350 precise waypoints with total movement distance of 1.127." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2179", "trajectory_length": 350, "key_frame_indices": [ 0, 62, 349 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2179.json" } }, { "id": "droid_cotrack_episode_1281", "task": "Move the cup closer to the edge of the table; Move the cup backward; Move the cup backwards", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1281/frame_0000.jpg", "droid-cotrack/images/episode_1281/frame_0090.jpg", "droid-cotrack/images/episode_1281/frame_0129.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup closer to the edge of the table; Move the cup backward; Move the cup backwards?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup closer to the edge of the table; Move the cup backward; Move the cup backwards, execute the following phases: 1) Initial approach phase (start at [0.721, 0.561]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.553, 0.562]). The trajectory involves 130 precise waypoints with total movement distance of 0.303." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1281", "trajectory_length": 130, "key_frame_indices": [ 0, 90, 129 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1281.json" } }, { "id": "droid_cotrack_episode_556", "task": "Use the towel to wipe the desk; Wipe the desk using the towel; Wipe the table with the towel", "selected_step": 1, "image": [ "droid-cotrack/images/episode_556/frame_0000.jpg", "droid-cotrack/images/episode_556/frame_0051.jpg", "droid-cotrack/images/episode_556/frame_0140.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the towel to wipe the desk; Wipe the desk using the towel; Wipe the table with the towel?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Use the towel to wipe the desk; Wipe the desk using the towel; Wipe the table with the towel, execute the following phases: 1) Initial approach phase (start at [0.527, 0.536]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.523, 0.513]). The trajectory involves 141 precise waypoints with total movement distance of 0.225." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_556", "trajectory_length": 141, "key_frame_indices": [ 0, 51, 140 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_556.json" } }, { "id": "droid_cotrack_episode_6127", "task": "Pull the third foosball stick from the right; Pull the first rod on the right of the foosball table; Pull the third rod to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6127/frame_0000.jpg", "droid-cotrack/images/episode_6127/frame_0117.jpg", "droid-cotrack/images/episode_6127/frame_0147.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pull the third foosball stick from the right; Pull the first rod on the right of the foosball table; Pull the third rod to the left?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Pull the third foosball stick from the right; Pull the first rod on the right of the foosball table; Pull the third rod to the left, execute the following phases: 1) Initial approach phase (start at [0.644, 0.582]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.538, 0.578]). The trajectory involves 148 precise waypoints with total movement distance of 0.219." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6127", "trajectory_length": 148, "key_frame_indices": [ 0, 117, 147 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6127.json" } }, { "id": "droid_cotrack_episode_1384", "task": "Lift the tap handle; Open the tap; Push the faucet handle upwards", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1384/frame_0000.jpg", "droid-cotrack/images/episode_1384/frame_0001.jpg", "droid-cotrack/images/episode_1384/frame_0145.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Lift the tap handle; Open the tap; Push the faucet handle upwards?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Lift the tap handle; Open the tap; Push the faucet handle upwards, execute the following phases: 1) Initial approach phase (start at [0.342, 0.162]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.411, 0.318]). The trajectory involves 146 precise waypoints with total movement distance of 0.961." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1384", "trajectory_length": 146, "key_frame_indices": [ 0, 1, 145 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1384.json" } }, { "id": "droid_cotrack_episode_10174", "task": "Put the bottle upright; Move the bottle upright; Put the right bottle upright", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10174/frame_0000.jpg", "droid-cotrack/images/episode_10174/frame_0202.jpg", "droid-cotrack/images/episode_10174/frame_0239.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the bottle upright; Move the bottle upright; Put the right bottle upright?" }, { "from": "gpt", "value": "To complete this repositioning: Put the bottle upright; Move the bottle upright; Put the right bottle upright, execute the following phases: 1) Initial approach phase (start at [0.425, 0.777]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.311, 0.723]). The trajectory involves 240 precise waypoints with total movement distance of 0.290." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10174", "trajectory_length": 240, "key_frame_indices": [ 0, 202, 239 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10174.json" } }, { "id": "droid_cotrack_episode_4199", "task": "Place the glass lid on the black pot; Put the lid on the black pot; Cover the pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4199/frame_0000.jpg", "droid-cotrack/images/episode_4199/frame_0119.jpg", "droid-cotrack/images/episode_4199/frame_0176.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the glass lid on the black pot; Put the lid on the black pot; Cover the pot?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Place the glass lid on the black pot; Put the lid on the black pot; Cover the pot, execute the following phases: 1) Initial approach phase (start at [0.682, 0.682]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.698, 0.455]). The trajectory involves 177 precise waypoints with total movement distance of 0.590." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4199", "trajectory_length": 177, "key_frame_indices": [ 0, 119, 176 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4199.json" } }, { "id": "droid_cotrack_episode_4473", "task": "Pick the marker from the cup and put it on the table; Remove the marker from the cup and put it on the table; Pick up the pen from the cup and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4473/frame_0000.jpg", "droid-cotrack/images/episode_4473/frame_0129.jpg", "droid-cotrack/images/episode_4473/frame_0165.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the marker from the cup and put it on the table; Remove the marker from the cup and put it on the table; Pick up the pen from the cup and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the marker from the cup and put it on the table; Remove the marker from the cup and put it on the table; Pick up the pen from the cup and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.500, 0.417]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.491, 0.300]). The trajectory involves 166 precise waypoints with total movement distance of 0.461." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4473", "trajectory_length": 166, "key_frame_indices": [ 0, 129, 165 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4473.json" } }, { "id": "droid_cotrack_episode_997", "task": "Slide the book to the right; Move the book to the right; Move the orange book to the right.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_997/frame_0000.jpg", "droid-cotrack/images/episode_997/frame_0197.jpg", "droid-cotrack/images/episode_997/frame_0275.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the book to the right; Move the book to the right; Move the orange book to the right.?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the book to the right; Move the book to the right; Move the orange book to the right., execute the following phases: 1) Initial approach phase (start at [0.706, 0.933]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.837, 0.829]). The trajectory involves 276 precise waypoints with total movement distance of 0.584." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_997", "trajectory_length": 276, "key_frame_indices": [ 0, 197, 275 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_997.json" } }, { "id": "droid_cotrack_episode_101", "task": "Put the coffee capsule in the coffee maker", "selected_step": 1, "image": [ "droid-cotrack/images/episode_101/frame_0000.jpg", "droid-cotrack/images/episode_101/frame_0176.jpg", "droid-cotrack/images/episode_101/frame_0235.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the coffee capsule in the coffee maker?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the coffee capsule in the coffee maker, execute the following phases: 1) Initial approach phase (start at [0.452, 0.503]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.087, 0.229]). The trajectory involves 236 precise waypoints with total movement distance of 0.942." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_101", "trajectory_length": 236, "key_frame_indices": [ 0, 176, 235 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_101.json" } }, { "id": "droid_cotrack_episode_945", "task": "Slide the cloth to the left on the counter; Move the green cloth on the left; Move the cloth to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_945/frame_0000.jpg", "droid-cotrack/images/episode_945/frame_0113.jpg", "droid-cotrack/images/episode_945/frame_0162.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the cloth to the left on the counter; Move the green cloth on the left; Move the cloth to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the cloth to the left on the counter; Move the green cloth on the left; Move the cloth to the left, execute the following phases: 1) Initial approach phase (start at [0.540, 0.617]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.445, 0.572]). The trajectory involves 163 precise waypoints with total movement distance of 0.185." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_945", "trajectory_length": 163, "key_frame_indices": [ 0, 113, 162 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_945.json" } }, { "id": "droid_cotrack_episode_4294", "task": "Pick up the lid and cover the pot; Put the black lid on top of the grey pot; Pick the black lid on the table and put it on the grey pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4294/frame_0000.jpg", "droid-cotrack/images/episode_4294/frame_0460.jpg", "droid-cotrack/images/episode_4294/frame_0494.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the lid and cover the pot; Put the black lid on top of the grey pot; Pick the black lid on the table and put it on the grey pot?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the lid and cover the pot; Put the black lid on top of the grey pot; Pick the black lid on the table and put it on the grey pot, execute the following phases: 1) Initial approach phase (start at [0.618, 0.397]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.514, 0.458]). The trajectory involves 495 precise waypoints with total movement distance of 0.712." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4294", "trajectory_length": 495, "key_frame_indices": [ 0, 460, 494 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4294.json" } }, { "id": "droid_cotrack_episode_2007", "task": "Remove the yellow object from the blue box", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2007/frame_0000.jpg", "droid-cotrack/images/episode_2007/frame_0164.jpg", "droid-cotrack/images/episode_2007/frame_0225.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the yellow object from the blue box?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the yellow object from the blue box, execute the following phases: 1) Initial approach phase (start at [0.531, 0.549]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.535, 0.838]). The trajectory involves 226 precise waypoints with total movement distance of 1.007." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2007", "trajectory_length": 226, "key_frame_indices": [ 0, 164, 225 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2007.json" } }, { "id": "droid_cotrack_episode_10028", "task": "Pick the bottle on the table and put it in the mug; Put the glue stick inside the yellow mug; Take the gluestick from the table and place it in the yellow cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10028/frame_0000.jpg", "droid-cotrack/images/episode_10028/frame_0093.jpg", "droid-cotrack/images/episode_10028/frame_0137.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the bottle on the table and put it in the mug; Put the glue stick inside the yellow mug; Take the gluestick from the table and place it in the yellow cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the bottle on the table and put it in the mug; Put the glue stick inside the yellow mug; Take the gluestick from the table and place it in the yellow cup, execute the following phases: 1) Initial approach phase (start at [0.528, 0.335]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.639, 0.337]). The trajectory involves 138 precise waypoints with total movement distance of 0.409." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10028", "trajectory_length": 138, "key_frame_indices": [ 0, 93, 137 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10028.json" } }, { "id": "droid_cotrack_episode_2035", "task": "Put a plate on the desk", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2035/frame_0000.jpg", "droid-cotrack/images/episode_2035/frame_0081.jpg", "droid-cotrack/images/episode_2035/frame_0215.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put a plate on the desk?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put a plate on the desk, execute the following phases: 1) Initial approach phase (start at [0.504, 0.547]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.551]). The trajectory involves 216 precise waypoints with total movement distance of 0.097." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2035", "trajectory_length": 216, "key_frame_indices": [ 0, 81, 215 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2035.json" } }, { "id": "droid_cotrack_episode_1631", "task": "Put the blue cloth on the backrest of the black chair; Put the blue shirt on the backrest of the black chair; Pick up the light blue cloth from the couch and put it on the black chair.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1631/frame_0000.jpg", "droid-cotrack/images/episode_1631/frame_0276.jpg", "droid-cotrack/images/episode_1631/frame_0293.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the blue cloth on the backrest of the black chair; Put the blue shirt on the backrest of the black chair; Pick up the light blue cloth from the couch and put it on the black chair.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the blue cloth on the backrest of the black chair; Put the blue shirt on the backrest of the black chair; Pick up the light blue cloth from the couch and put it on the black chair., execute the following phases: 1) Initial approach phase (start at [0.921, 0.525]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.676, 0.434]). The trajectory involves 294 precise waypoints with total movement distance of 1.602." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1631", "trajectory_length": 294, "key_frame_indices": [ 0, 276, 293 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1631.json" } }, { "id": "droid_cotrack_episode_4327", "task": "Move the sneakers forwards.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4327/frame_0000.jpg", "droid-cotrack/images/episode_4327/frame_0227.jpg", "droid-cotrack/images/episode_4327/frame_0256.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the sneakers forwards.?" }, { "from": "gpt", "value": "To complete this repositioning: Move the sneakers forwards., execute the following phases: 1) Initial approach phase (start at [0.450, 0.584]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.461, 0.587]). The trajectory involves 257 precise waypoints with total movement distance of 0.116." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4327", "trajectory_length": 257, "key_frame_indices": [ 0, 227, 256 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4327.json" } }, { "id": "droid_cotrack_episode_4456", "task": "Fold the yellow towel in half", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4456/frame_0000.jpg", "droid-cotrack/images/episode_4456/frame_0248.jpg", "droid-cotrack/images/episode_4456/frame_0308.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the yellow towel in half?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Fold the yellow towel in half, execute the following phases: 1) Initial approach phase (start at [0.449, 0.868]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.421, 0.776]). The trajectory involves 309 precise waypoints with total movement distance of 0.288." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4456", "trajectory_length": 309, "key_frame_indices": [ 0, 248, 308 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4456.json" } }, { "id": "droid_cotrack_episode_1963", "task": "Take the marker from the box and place it on the table; Remove the blue maker from the tray and place it on the table; Pick the marker from the box and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1963/frame_0000.jpg", "droid-cotrack/images/episode_1963/frame_0170.jpg", "droid-cotrack/images/episode_1963/frame_0205.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the marker from the box and place it on the table; Remove the blue maker from the tray and place it on the table; Pick the marker from the box and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Take the marker from the box and place it on the table; Remove the blue maker from the tray and place it on the table; Pick the marker from the box and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.553, 0.950]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.548, 0.955]). The trajectory involves 206 precise waypoints with total movement distance of 0.180." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1963", "trajectory_length": 206, "key_frame_indices": [ 0, 170, 205 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1963.json" } }, { "id": "droid_cotrack_episode_6501", "task": "Take the can out of the sink", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6501/frame_0000.jpg", "droid-cotrack/images/episode_6501/frame_0161.jpg", "droid-cotrack/images/episode_6501/frame_0291.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the can out of the sink?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Take the can out of the sink, execute the following phases: 1) Initial approach phase (start at [0.582, 0.928]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.323, 0.732]). The trajectory involves 292 precise waypoints with total movement distance of 0.550." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6501", "trajectory_length": 292, "key_frame_indices": [ 0, 161, 291 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6501.json" } }, { "id": "droid_cotrack_episode_1227", "task": "Remove the lid from one jar on the stove.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1227/frame_0000.jpg", "droid-cotrack/images/episode_1227/frame_0115.jpg", "droid-cotrack/images/episode_1227/frame_0195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the lid from one jar on the stove.?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the lid from one jar on the stove., execute the following phases: 1) Initial approach phase (start at [0.602, 0.800]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.581, 0.832]). The trajectory involves 196 precise waypoints with total movement distance of 0.131." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1227", "trajectory_length": 196, "key_frame_indices": [ 0, 115, 195 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1227.json" } }, { "id": "droid_cotrack_episode_911", "task": "Move the cup to the right; Bring the cup to the left side of the pan; Move the red cup to the front right of the pan", "selected_step": 1, "image": [ "droid-cotrack/images/episode_911/frame_0000.jpg", "droid-cotrack/images/episode_911/frame_0157.jpg", "droid-cotrack/images/episode_911/frame_0267.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup to the right; Bring the cup to the left side of the pan; Move the red cup to the front right of the pan?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup to the right; Bring the cup to the left side of the pan; Move the red cup to the front right of the pan, execute the following phases: 1) Initial approach phase (start at [0.413, 0.457]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.434, 0.703]). The trajectory involves 268 precise waypoints with total movement distance of 0.657." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_911", "trajectory_length": 268, "key_frame_indices": [ 0, 157, 267 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_911.json" } }, { "id": "droid_cotrack_episode_4141", "task": "Slide the bowl to the right; Move the bowl to the right; Move the bowl to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4141/frame_0000.jpg", "droid-cotrack/images/episode_4141/frame_0198.jpg", "droid-cotrack/images/episode_4141/frame_0232.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the bowl to the right; Move the bowl to the right; Move the bowl to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the bowl to the right; Move the bowl to the right; Move the bowl to the right, execute the following phases: 1) Initial approach phase (start at [0.496, 0.596]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.528, 0.547]). The trajectory involves 233 precise waypoints with total movement distance of 0.149." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4141", "trajectory_length": 233, "key_frame_indices": [ 0, 198, 232 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4141.json" } }, { "id": "droid_cotrack_episode_4430", "task": "Place the blue handle on the holder; Put the soldering gun on the handle; Hang the blue adapter on the machine", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4430/frame_0000.jpg", "droid-cotrack/images/episode_4430/frame_0145.jpg", "droid-cotrack/images/episode_4430/frame_0216.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the blue handle on the holder; Put the soldering gun on the handle; Hang the blue adapter on the machine?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Place the blue handle on the holder; Put the soldering gun on the handle; Hang the blue adapter on the machine, execute the following phases: 1) Initial approach phase (start at [0.339, 0.937]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.341, 0.732]). The trajectory involves 217 precise waypoints with total movement distance of 0.622." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4430", "trajectory_length": 217, "key_frame_indices": [ 0, 145, 216 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4430.json" } }, { "id": "droid_cotrack_episode_6784", "task": "Remove one tissue square from the tissue box; Pull out one tissue square from the box; Pull the face wipe from the box and place on the table.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6784/frame_0000.jpg", "droid-cotrack/images/episode_6784/frame_0132.jpg", "droid-cotrack/images/episode_6784/frame_0157.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove one tissue square from the tissue box; Pull out one tissue square from the box; Pull the face wipe from the box and place on the table.?" }, { "from": "gpt", "value": "To complete this repositioning: Remove one tissue square from the tissue box; Pull out one tissue square from the box; Pull the face wipe from the box and place on the table., execute the following phases: 1) Initial approach phase (start at [0.421, 0.584]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.580, 0.649]). The trajectory involves 158 precise waypoints with total movement distance of 1.112." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6784", "trajectory_length": 158, "key_frame_indices": [ 0, 132, 157 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6784.json" } }, { "id": "droid_cotrack_episode_1200", "task": "Move the silver bowl forward", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1200/frame_0000.jpg", "droid-cotrack/images/episode_1200/frame_0142.jpg", "droid-cotrack/images/episode_1200/frame_0259.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the silver bowl forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the silver bowl forward, execute the following phases: 1) Initial approach phase (start at [0.795, 0.970]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.725, 0.848]). The trajectory involves 260 precise waypoints with total movement distance of 0.359." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1200", "trajectory_length": 260, "key_frame_indices": [ 0, 142, 259 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1200.json" } }, { "id": "droid_cotrack_episode_1394", "task": "Close the bottom drawer of the file cabinet on the right side; Close the bottom drawer; Close the bottom drawer of the beige file cabinet", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1394/frame_0000.jpg", "droid-cotrack/images/episode_1394/frame_0054.jpg", "droid-cotrack/images/episode_1394/frame_0085.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the bottom drawer of the file cabinet on the right side; Close the bottom drawer; Close the bottom drawer of the beige file cabinet?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the bottom drawer of the file cabinet on the right side; Close the bottom drawer; Close the bottom drawer of the beige file cabinet, execute the following phases: 1) Initial approach phase (start at [0.633, 0.915]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.602, 0.817]). The trajectory involves 86 precise waypoints with total movement distance of 0.134." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1394", "trajectory_length": 86, "key_frame_indices": [ 0, 54, 85 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1394.json" } }, { "id": "droid_cotrack_episode_489", "task": "Pick up the marker from the cup and place it on the table; Remove the marker from the cup; Pick up the pen and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_489/frame_0000.jpg", "droid-cotrack/images/episode_489/frame_0146.jpg", "droid-cotrack/images/episode_489/frame_0212.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the marker from the cup and place it on the table; Remove the marker from the cup; Pick up the pen and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the marker from the cup and place it on the table; Remove the marker from the cup; Pick up the pen and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.729, 0.411]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.724, 0.373]). The trajectory involves 213 precise waypoints with total movement distance of 0.268." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_489", "trajectory_length": 213, "key_frame_indices": [ 0, 146, 212 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_489.json" } }, { "id": "droid_cotrack_episode_4034", "task": "Put an orange disc on the empty rod of the wooden rack; Pick the ring at the edge of the table and put it on the wooden stand; Pick up the orange object and put it on the first slot of the object", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4034/frame_0000.jpg", "droid-cotrack/images/episode_4034/frame_0029.jpg", "droid-cotrack/images/episode_4034/frame_0255.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put an orange disc on the empty rod of the wooden rack; Pick the ring at the edge of the table and put it on the wooden stand; Pick up the orange object and put it on the first slot of the object?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put an orange disc on the empty rod of the wooden rack; Pick the ring at the edge of the table and put it on the wooden stand; Pick up the orange object and put it on the first slot of the object, execute the following phases: 1) Initial approach phase (start at [0.428, 0.878]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.425, 0.871]). The trajectory involves 256 precise waypoints with total movement distance of 0.125." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4034", "trajectory_length": 256, "key_frame_indices": [ 0, 29, 255 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4034.json" } }, { "id": "droid_cotrack_episode_4463", "task": "Use the cloth to wipe the counter; Use the white cloth on the counter to wipe the countertop; Move the white towel left then to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4463/frame_0000.jpg", "droid-cotrack/images/episode_4463/frame_0281.jpg", "droid-cotrack/images/episode_4463/frame_0320.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the cloth to wipe the counter; Use the white cloth on the counter to wipe the countertop; Move the white towel left then to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Use the cloth to wipe the counter; Use the white cloth on the counter to wipe the countertop; Move the white towel left then to the right, execute the following phases: 1) Initial approach phase (start at [0.432, 0.534]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.414, 0.531]). The trajectory involves 321 precise waypoints with total movement distance of 0.492." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4463", "trajectory_length": 321, "key_frame_indices": [ 0, 281, 320 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4463.json" } }, { "id": "droid_cotrack_episode_2036", "task": "Put the marker into the bowl.; Put the green marker inside the grey bowl; Put the marker in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2036/frame_0000.jpg", "droid-cotrack/images/episode_2036/frame_0149.jpg", "droid-cotrack/images/episode_2036/frame_0180.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker into the bowl.; Put the green marker inside the grey bowl; Put the marker in the bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the marker into the bowl.; Put the green marker inside the grey bowl; Put the marker in the bowl, execute the following phases: 1) Initial approach phase (start at [0.302, 0.483]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.495, 0.682]). The trajectory involves 181 precise waypoints with total movement distance of 0.574." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2036", "trajectory_length": 181, "key_frame_indices": [ 0, 149, 180 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2036.json" } }, { "id": "droid_cotrack_episode_1705", "task": "Pour some liquid from the white container into the washing machine soap chamber; Pour the detergent into the open tray on the second washing machine; Pour some detergent in the washing machine", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1705/frame_0000.jpg", "droid-cotrack/images/episode_1705/frame_0340.jpg", "droid-cotrack/images/episode_1705/frame_0439.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour some liquid from the white container into the washing machine soap chamber; Pour the detergent into the open tray on the second washing machine; Pour some detergent in the washing machine?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Pour some liquid from the white container into the washing machine soap chamber; Pour the detergent into the open tray on the second washing machine; Pour some detergent in the washing machine, execute the following phases: 1) Initial approach phase (start at [0.372, 0.189]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.491, 0.201]). The trajectory involves 440 precise waypoints with total movement distance of 0.913." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1705", "trajectory_length": 440, "key_frame_indices": [ 0, 340, 439 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1705.json" } }, { "id": "droid_cotrack_episode_291", "task": "Open the drawer", "selected_step": 1, "image": [ "droid-cotrack/images/episode_291/frame_0000.jpg", "droid-cotrack/images/episode_291/frame_0325.jpg", "droid-cotrack/images/episode_291/frame_0381.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the drawer, execute the following phases: 1) Initial approach phase (start at [0.460, 0.696]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.606, 0.772]). The trajectory involves 382 precise waypoints with total movement distance of 0.500." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_291", "trajectory_length": 382, "key_frame_indices": [ 0, 325, 381 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_291.json" } }, { "id": "droid_cotrack_episode_571", "task": "Put the blue marker in the top rectangular segment; Put the marker on the tray; Place the blue marker on the top part of the tray", "selected_step": 1, "image": [ "droid-cotrack/images/episode_571/frame_0000.jpg", "droid-cotrack/images/episode_571/frame_0060.jpg", "droid-cotrack/images/episode_571/frame_0140.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the blue marker in the top rectangular segment; Put the marker on the tray; Place the blue marker on the top part of the tray?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the blue marker in the top rectangular segment; Put the marker on the tray; Place the blue marker on the top part of the tray, execute the following phases: 1) Initial approach phase (start at [0.608, 0.882]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.606, 0.883]). The trajectory involves 141 precise waypoints with total movement distance of 0.042." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_571", "trajectory_length": 141, "key_frame_indices": [ 0, 60, 140 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_571.json" } }, { "id": "droid_cotrack_episode_1051", "task": "Put the orange straw in the can; Move the straw to the right side of the can then place it in front of the can; Pick up the straw and position it vertically, then place it horizontally", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1051/frame_0000.jpg", "droid-cotrack/images/episode_1051/frame_0400.jpg", "droid-cotrack/images/episode_1051/frame_0533.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange straw in the can; Move the straw to the right side of the can then place it in front of the can; Pick up the straw and position it vertically, then place it horizontally?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the orange straw in the can; Move the straw to the right side of the can then place it in front of the can; Pick up the straw and position it vertically, then place it horizontally, execute the following phases: 1) Initial approach phase (start at [0.512, 0.512]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.520, 0.523]). The trajectory involves 534 precise waypoints with total movement distance of 0.835." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1051", "trajectory_length": 534, "key_frame_indices": [ 0, 400, 533 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1051.json" } }, { "id": "droid_cotrack_episode_2033", "task": "Open the microwave door", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2033/frame_0000.jpg", "droid-cotrack/images/episode_2033/frame_0190.jpg", "droid-cotrack/images/episode_2033/frame_0210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the microwave door?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the microwave door, execute the following phases: 1) Initial approach phase (start at [0.550, 0.555]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.633, 0.576]). The trajectory involves 211 precise waypoints with total movement distance of 0.652." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2033", "trajectory_length": 211, "key_frame_indices": [ 0, 190, 210 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2033.json" } }, { "id": "droid_cotrack_episode_1415", "task": "Push the plastic box under the cabinet; Push the box; Push the box under the cabinet", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1415/frame_0000.jpg", "droid-cotrack/images/episode_1415/frame_0054.jpg", "droid-cotrack/images/episode_1415/frame_0089.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the plastic box under the cabinet; Push the box; Push the box under the cabinet?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push the plastic box under the cabinet; Push the box; Push the box under the cabinet, execute the following phases: 1) Initial approach phase (start at [0.540, 0.661]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.485, 0.655]). The trajectory involves 90 precise waypoints with total movement distance of 0.099." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1415", "trajectory_length": 90, "key_frame_indices": [ 0, 54, 89 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1415.json" } }, { "id": "droid_cotrack_episode_6585", "task": "Move the white mug to the right; Move the white mug to the right side of the table; Move the mug to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6585/frame_0000.jpg", "droid-cotrack/images/episode_6585/frame_0215.jpg", "droid-cotrack/images/episode_6585/frame_0252.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the white mug to the right; Move the white mug to the right side of the table; Move the mug to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the white mug to the right; Move the white mug to the right side of the table; Move the mug to the right, execute the following phases: 1) Initial approach phase (start at [0.537, 0.382]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.644, 0.328]). The trajectory involves 253 precise waypoints with total movement distance of 0.330." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6585", "trajectory_length": 253, "key_frame_indices": [ 0, 215, 252 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6585.json" } }, { "id": "droid_cotrack_episode_10148", "task": "Unhang the white cloth from the stand; Drop the cloth from the black stand; Unhang the cloth from the black frame and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10148/frame_0000.jpg", "droid-cotrack/images/episode_10148/frame_0096.jpg", "droid-cotrack/images/episode_10148/frame_0116.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unhang the white cloth from the stand; Drop the cloth from the black stand; Unhang the cloth from the black frame and put it on the table?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Unhang the white cloth from the stand; Drop the cloth from the black stand; Unhang the cloth from the black frame and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.386, 0.163]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.516, 0.293]). The trajectory involves 117 precise waypoints with total movement distance of 0.440." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10148", "trajectory_length": 117, "key_frame_indices": [ 0, 96, 116 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10148.json" } }, { "id": "droid_cotrack_episode_4196", "task": "Remove the marker from the cup and put it on the table; Remove the object from the blue cup; Remove the marker from the mug cup and place it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4196/frame_0000.jpg", "droid-cotrack/images/episode_4196/frame_0239.jpg", "droid-cotrack/images/episode_4196/frame_0266.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker from the cup and put it on the table; Remove the object from the blue cup; Remove the marker from the mug cup and place it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the marker from the cup and put it on the table; Remove the object from the blue cup; Remove the marker from the mug cup and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.434, 0.400]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.429, 0.414]). The trajectory involves 267 precise waypoints with total movement distance of 0.256." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4196", "trajectory_length": 267, "key_frame_indices": [ 0, 239, 266 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4196.json" } }, { "id": "droid_cotrack_episode_4334", "task": "Pick the chopstick and put it in the bowl; Put the chopstick in the left blue bowl; Move the stick in the plastic container to the leftmost bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4334/frame_0000.jpg", "droid-cotrack/images/episode_4334/frame_0123.jpg", "droid-cotrack/images/episode_4334/frame_0196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the chopstick and put it in the bowl; Put the chopstick in the left blue bowl; Move the stick in the plastic container to the leftmost bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the chopstick and put it in the bowl; Put the chopstick in the left blue bowl; Move the stick in the plastic container to the leftmost bowl, execute the following phases: 1) Initial approach phase (start at [0.540, 0.777]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.538, 0.779]). The trajectory involves 197 precise waypoints with total movement distance of 0.098." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4334", "trajectory_length": 197, "key_frame_indices": [ 0, 123, 196 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4334.json" } }, { "id": "droid_cotrack_episode_1990", "task": "Put the lid on the can; Pick up the lid and close the bottle; Put the lid on the spray can", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1990/frame_0000.jpg", "droid-cotrack/images/episode_1990/frame_0089.jpg", "droid-cotrack/images/episode_1990/frame_0173.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the lid on the can; Pick up the lid and close the bottle; Put the lid on the spray can?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the lid on the can; Pick up the lid and close the bottle; Put the lid on the spray can, execute the following phases: 1) Initial approach phase (start at [0.625, 0.506]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.574, 0.293]). The trajectory involves 174 precise waypoints with total movement distance of 0.451." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1990", "trajectory_length": 174, "key_frame_indices": [ 0, 89, 173 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1990.json" } }, { "id": "droid_cotrack_episode_6247", "task": "Close the door of the device", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6247/frame_0000.jpg", "droid-cotrack/images/episode_6247/frame_0038.jpg", "droid-cotrack/images/episode_6247/frame_0195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the door of the device?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the door of the device, execute the following phases: 1) Initial approach phase (start at [0.687, 0.618]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.692, 0.615]). The trajectory involves 196 precise waypoints with total movement distance of 0.137." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6247", "trajectory_length": 196, "key_frame_indices": [ 0, 38, 195 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6247.json" } }, { "id": "droid_cotrack_episode_2221", "task": "Remove the marker from the mug and put it on the table; Remove the marker from the mug; Pick up the marker from the cup and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2221/frame_0000.jpg", "droid-cotrack/images/episode_2221/frame_0095.jpg", "droid-cotrack/images/episode_2221/frame_0129.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker from the mug and put it on the table; Remove the marker from the mug; Pick up the marker from the cup and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Remove the marker from the mug and put it on the table; Remove the marker from the mug; Pick up the marker from the cup and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.489, 0.403]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.492, 0.403]). The trajectory involves 130 precise waypoints with total movement distance of 0.473." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2221", "trajectory_length": 130, "key_frame_indices": [ 0, 95, 129 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2221.json" } }, { "id": "droid_cotrack_episode_6433", "task": "Put the red marker inside the red mug; Put the orange marker in the mug; Put the marker in the mug", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6433/frame_0000.jpg", "droid-cotrack/images/episode_6433/frame_0096.jpg", "droid-cotrack/images/episode_6433/frame_0196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the red marker inside the red mug; Put the orange marker in the mug; Put the marker in the mug?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the red marker inside the red mug; Put the orange marker in the mug; Put the marker in the mug, execute the following phases: 1) Initial approach phase (start at [0.545, 0.497]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.726, 0.285]). The trajectory involves 197 precise waypoints with total movement distance of 0.649." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6433", "trajectory_length": 197, "key_frame_indices": [ 0, 96, 196 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6433.json" } }, { "id": "droid_cotrack_episode_10313", "task": "Press the button on the toaster; Press the button on the right side of the toaster; Push the lever on the right side of the bread toaster up", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10313/frame_0000.jpg", "droid-cotrack/images/episode_10313/frame_0144.jpg", "droid-cotrack/images/episode_10313/frame_0149.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Press the button on the toaster; Press the button on the right side of the toaster; Push the lever on the right side of the bread toaster up?" }, { "from": "gpt", "value": "To complete this button/switch activation: Press the button on the toaster; Press the button on the right side of the toaster; Push the lever on the right side of the bread toaster up, execute the following phases: 1) Initial approach phase (start at [0.568, 0.541]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.569, 0.541]). The trajectory involves 150 precise waypoints with total movement distance of 0.048." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10313", "trajectory_length": 150, "key_frame_indices": [ 0, 144, 149 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10313.json" } }, { "id": "droid_cotrack_episode_114", "task": "Remove the lid from the pot.; Remove the lid from the pot and put it on the table; Pick up the lid from the pot and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_114/frame_0000.jpg", "droid-cotrack/images/episode_114/frame_0135.jpg", "droid-cotrack/images/episode_114/frame_0137.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the lid from the pot.; Remove the lid from the pot and put it on the table; Pick up the lid from the pot and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Remove the lid from the pot.; Remove the lid from the pot and put it on the table; Pick up the lid from the pot and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.615, 0.459]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.433, 0.532]). The trajectory involves 138 precise waypoints with total movement distance of 0.726." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_114", "trajectory_length": 138, "key_frame_indices": [ 0, 135, 137 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_114.json" } }, { "id": "droid_cotrack_episode_4540", "task": "Remove the marker from the mug cup and place it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4540/frame_0000.jpg", "droid-cotrack/images/episode_4540/frame_0117.jpg", "droid-cotrack/images/episode_4540/frame_0204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker from the mug cup and place it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the marker from the mug cup and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.568, 0.910]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.566, 0.907]). The trajectory involves 205 precise waypoints with total movement distance of 0.096." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4540", "trajectory_length": 205, "key_frame_indices": [ 0, 117, 204 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4540.json" } }, { "id": "droid_cotrack_episode_1545", "task": "Hang the cloth on the screen; Hang the cloth on the transparent screen; Hang the white and green cloth on the glass panel", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1545/frame_0000.jpg", "droid-cotrack/images/episode_1545/frame_0106.jpg", "droid-cotrack/images/episode_1545/frame_0183.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Hang the cloth on the screen; Hang the cloth on the transparent screen; Hang the white and green cloth on the glass panel?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Hang the cloth on the screen; Hang the cloth on the transparent screen; Hang the white and green cloth on the glass panel, execute the following phases: 1) Initial approach phase (start at [0.541, 0.872]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.539, 0.870]). The trajectory involves 184 precise waypoints with total movement distance of 0.181." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1545", "trajectory_length": 184, "key_frame_indices": [ 0, 106, 183 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1545.json" } }, { "id": "droid_cotrack_episode_10003", "task": "Put the cloth on the countertop shield; Pick up the cloth and put it on the glass; Hang the cloth on the glass barrier", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10003/frame_0000.jpg", "droid-cotrack/images/episode_10003/frame_0072.jpg", "droid-cotrack/images/episode_10003/frame_0153.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the cloth on the countertop shield; Pick up the cloth and put it on the glass; Hang the cloth on the glass barrier?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the cloth on the countertop shield; Pick up the cloth and put it on the glass; Hang the cloth on the glass barrier, execute the following phases: 1) Initial approach phase (start at [0.567, 0.834]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.533, 0.409]). The trajectory involves 154 precise waypoints with total movement distance of 0.803." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10003", "trajectory_length": 154, "key_frame_indices": [ 0, 72, 153 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10003.json" } }, { "id": "droid_cotrack_episode_4163", "task": "Use the towel to wipe the table; Wipe the table; Take the towel and clean the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4163/frame_0000.jpg", "droid-cotrack/images/episode_4163/frame_0343.jpg", "droid-cotrack/images/episode_4163/frame_0381.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the towel to wipe the table; Wipe the table; Take the towel and clean the table?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Use the towel to wipe the table; Wipe the table; Take the towel and clean the table, execute the following phases: 1) Initial approach phase (start at [0.584, 0.509]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.544, 0.510]). The trajectory involves 382 precise waypoints with total movement distance of 2.225." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4163", "trajectory_length": 382, "key_frame_indices": [ 0, 343, 381 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4163.json" } }, { "id": "droid_cotrack_episode_1401", "task": "Pull the plate forward", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1401/frame_0000.jpg", "droid-cotrack/images/episode_1401/frame_0113.jpg", "droid-cotrack/images/episode_1401/frame_0140.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pull the plate forward?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Pull the plate forward, execute the following phases: 1) Initial approach phase (start at [0.497, 0.475]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.511, 0.530]). The trajectory involves 141 precise waypoints with total movement distance of 0.094." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1401", "trajectory_length": 141, "key_frame_indices": [ 0, 113, 140 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1401.json" } }, { "id": "droid_cotrack_episode_6803", "task": "Use the wooden spoon to mix in the bowl; Use the spatula to stir in the bowl; Use the ladle to stir in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6803/frame_0000.jpg", "droid-cotrack/images/episode_6803/frame_0439.jpg", "droid-cotrack/images/episode_6803/frame_0507.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the wooden spoon to mix in the bowl; Use the spatula to stir in the bowl; Use the ladle to stir in the bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Use the wooden spoon to mix in the bowl; Use the spatula to stir in the bowl; Use the ladle to stir in the bowl, execute the following phases: 1) Initial approach phase (start at [0.615, 0.540]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.614, 0.542]). The trajectory involves 508 precise waypoints with total movement distance of 0.767." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6803", "trajectory_length": 508, "key_frame_indices": [ 0, 439, 507 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6803.json" } }, { "id": "droid_cotrack_episode_1838", "task": "Uncover the pot and put the lid on the counter; Pick up the lid from the blue pot and put it on the countertop.; Pick up the lid from the pot and put it on the counter", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1838/frame_0000.jpg", "droid-cotrack/images/episode_1838/frame_0170.jpg", "droid-cotrack/images/episode_1838/frame_0235.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Uncover the pot and put the lid on the counter; Pick up the lid from the blue pot and put it on the countertop.; Pick up the lid from the pot and put it on the counter?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Uncover the pot and put the lid on the counter; Pick up the lid from the blue pot and put it on the countertop.; Pick up the lid from the pot and put it on the counter, execute the following phases: 1) Initial approach phase (start at [0.580, 0.759]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.580, 0.761]). The trajectory involves 236 precise waypoints with total movement distance of 0.140." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1838", "trajectory_length": 236, "key_frame_indices": [ 0, 170, 235 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1838.json" } }, { "id": "droid_cotrack_episode_10019", "task": "Pick up the building block toys from the top of the cabinet and put them in the black bowl.; Put all the building blocks in the bowl; Place all the lego pieces inside the black bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10019/frame_0000.jpg", "droid-cotrack/images/episode_10019/frame_0119.jpg", "droid-cotrack/images/episode_10019/frame_0430.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the building block toys from the top of the cabinet and put them in the black bowl.; Put all the building blocks in the bowl; Place all the lego pieces inside the black bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the building block toys from the top of the cabinet and put them in the black bowl.; Put all the building blocks in the bowl; Place all the lego pieces inside the black bowl, execute the following phases: 1) Initial approach phase (start at [0.653, 0.867]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.666, 0.494]). The trajectory involves 431 precise waypoints with total movement distance of 1.897." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10019", "trajectory_length": 431, "key_frame_indices": [ 0, 119, 430 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10019.json" } }, { "id": "droid_cotrack_episode_1706", "task": "Move the blue cup to the left; Move the dark blue cup to the left.; Move the cup to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1706/frame_0000.jpg", "droid-cotrack/images/episode_1706/frame_0167.jpg", "droid-cotrack/images/episode_1706/frame_0226.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the blue cup to the left; Move the dark blue cup to the left.; Move the cup to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the blue cup to the left; Move the dark blue cup to the left.; Move the cup to the left, execute the following phases: 1) Initial approach phase (start at [0.623, 0.576]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.551, 0.655]). The trajectory involves 227 precise waypoints with total movement distance of 0.345." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1706", "trajectory_length": 227, "key_frame_indices": [ 0, 167, 226 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1706.json" } }, { "id": "droid_cotrack_episode_1383", "task": "Put the marker on the table; Put the orange marker on the table; Take the marker out of the cup and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1383/frame_0000.jpg", "droid-cotrack/images/episode_1383/frame_0162.jpg", "droid-cotrack/images/episode_1383/frame_0201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker on the table; Put the orange marker on the table; Take the marker out of the cup and put it on the table?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the marker on the table; Put the orange marker on the table; Take the marker out of the cup and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.526, 0.552]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.510, 0.540]). The trajectory involves 202 precise waypoints with total movement distance of 0.491." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1383", "trajectory_length": 202, "key_frame_indices": [ 0, 162, 201 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1383.json" } }, { "id": "droid_cotrack_episode_2192", "task": "Put the black bowl inside the pink bowl; Put the black bowl on top of the brown bowl; Put the black bowl inside the pink bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2192/frame_0000.jpg", "droid-cotrack/images/episode_2192/frame_0100.jpg", "droid-cotrack/images/episode_2192/frame_0135.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the black bowl inside the pink bowl; Put the black bowl on top of the brown bowl; Put the black bowl inside the pink bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the black bowl inside the pink bowl; Put the black bowl on top of the brown bowl; Put the black bowl inside the pink bowl, execute the following phases: 1) Initial approach phase (start at [0.623, 0.590]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.666, 0.469]). The trajectory involves 136 precise waypoints with total movement distance of 0.404." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2192", "trajectory_length": 136, "key_frame_indices": [ 0, 100, 135 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2192.json" } }, { "id": "droid_cotrack_episode_2133", "task": "Put the box on the white chopping board", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2133/frame_0000.jpg", "droid-cotrack/images/episode_2133/frame_0093.jpg", "droid-cotrack/images/episode_2133/frame_0174.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the box on the white chopping board?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the box on the white chopping board, execute the following phases: 1) Initial approach phase (start at [0.446, 0.654]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.525, 0.604]). The trajectory involves 175 precise waypoints with total movement distance of 0.260." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2133", "trajectory_length": 175, "key_frame_indices": [ 0, 93, 174 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2133.json" } }, { "id": "droid_cotrack_episode_2123", "task": "Straighten the blue cloth; Move the blue cloth; Unfold the blue object slightly on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2123/frame_0000.jpg", "droid-cotrack/images/episode_2123/frame_0392.jpg", "droid-cotrack/images/episode_2123/frame_0589.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Straighten the blue cloth; Move the blue cloth; Unfold the blue object slightly on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Straighten the blue cloth; Move the blue cloth; Unfold the blue object slightly on the table, execute the following phases: 1) Initial approach phase (start at [0.554, 0.728]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.552, 0.820]). The trajectory involves 590 precise waypoints with total movement distance of 3.005." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2123", "trajectory_length": 590, "key_frame_indices": [ 0, 392, 589 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2123.json" } }, { "id": "droid_cotrack_episode_1945", "task": "Move the black measuring cup to the right then pick up the glass cup and set it down on the desk.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1945/frame_0000.jpg", "droid-cotrack/images/episode_1945/frame_0069.jpg", "droid-cotrack/images/episode_1945/frame_0597.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the black measuring cup to the right then pick up the glass cup and set it down on the desk.?" }, { "from": "gpt", "value": "To complete this repositioning: Move the black measuring cup to the right then pick up the glass cup and set it down on the desk., execute the following phases: 1) Initial approach phase (start at [0.566, 0.271]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.465, 0.422]). The trajectory involves 598 precise waypoints with total movement distance of 0.860." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1945", "trajectory_length": 598, "key_frame_indices": [ 0, 69, 597 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1945.json" } }, { "id": "droid_cotrack_episode_6372", "task": "Put the blue object inside the wooden box", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6372/frame_0000.jpg", "droid-cotrack/images/episode_6372/frame_0078.jpg", "droid-cotrack/images/episode_6372/frame_0173.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the blue object inside the wooden box?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the blue object inside the wooden box, execute the following phases: 1) Initial approach phase (start at [0.446, 0.670]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.409, 0.476]). The trajectory involves 174 precise waypoints with total movement distance of 0.629." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6372", "trajectory_length": 174, "key_frame_indices": [ 0, 78, 173 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6372.json" } }, { "id": "droid_cotrack_episode_4295", "task": "Move the coffee cup to the right side of the desk", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4295/frame_0000.jpg", "droid-cotrack/images/episode_4295/frame_0141.jpg", "droid-cotrack/images/episode_4295/frame_0214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the coffee cup to the right side of the desk?" }, { "from": "gpt", "value": "To complete this repositioning: Move the coffee cup to the right side of the desk, execute the following phases: 1) Initial approach phase (start at [0.408, 0.679]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.587, 0.679]). The trajectory involves 215 precise waypoints with total movement distance of 0.432." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4295", "trajectory_length": 215, "key_frame_indices": [ 0, 141, 214 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4295.json" } }, { "id": "droid_cotrack_episode_6755", "task": "Take the yellow block out of the silver bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6755/frame_0000.jpg", "droid-cotrack/images/episode_6755/frame_0079.jpg", "droid-cotrack/images/episode_6755/frame_0112.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the yellow block out of the silver bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Take the yellow block out of the silver bowl, execute the following phases: 1) Initial approach phase (start at [0.634, 0.363]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.489, 0.308]). The trajectory involves 113 precise waypoints with total movement distance of 0.378." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6755", "trajectory_length": 113, "key_frame_indices": [ 0, 79, 112 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6755.json" } }, { "id": "droid_cotrack_episode_41", "task": "Push the door handle down and open the door; Open the door; Open the door", "selected_step": 1, "image": [ "droid-cotrack/images/episode_41/frame_0000.jpg", "droid-cotrack/images/episode_41/frame_0144.jpg", "droid-cotrack/images/episode_41/frame_0329.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the door handle down and open the door; Open the door; Open the door?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Push the door handle down and open the door; Open the door; Open the door, execute the following phases: 1) Initial approach phase (start at [0.498, 0.598]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.650, 0.774]). The trajectory involves 330 precise waypoints with total movement distance of 0.639." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_41", "trajectory_length": 330, "key_frame_indices": [ 0, 144, 329 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_41.json" } }, { "id": "droid_cotrack_episode_19", "task": "Perform droid_cotrack manipulation task", "selected_step": 1, "image": [ "droid-cotrack/images/episode_19/frame_0000.jpg", "droid-cotrack/images/episode_19/frame_0002.jpg", "droid-cotrack/images/episode_19/frame_0007.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Perform droid_cotrack manipulation task?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Perform droid_cotrack manipulation task, execute the following phases: 1) Initial approach phase (start at [0.543, 0.678]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.543, 0.677]). The trajectory involves 8 precise waypoints with total movement distance of 0.003." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_19", "trajectory_length": 8, "key_frame_indices": [ 0, 2, 7 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_19.json" } }, { "id": "droid_cotrack_episode_10007", "task": "Remove the pen from the mug and put it on the table; Take the pen out of the mug and put it on the table; Remove the marker from the mug and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10007/frame_0000.jpg", "droid-cotrack/images/episode_10007/frame_0091.jpg", "droid-cotrack/images/episode_10007/frame_0125.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the pen from the mug and put it on the table; Take the pen out of the mug and put it on the table; Remove the marker from the mug and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the pen from the mug and put it on the table; Take the pen out of the mug and put it on the table; Remove the marker from the mug and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.610, 0.441]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.496, 0.515]). The trajectory involves 126 precise waypoints with total movement distance of 0.673." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10007", "trajectory_length": 126, "key_frame_indices": [ 0, 91, 125 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10007.json" } }, { "id": "droid_cotrack_episode_6321", "task": "Put the white book on top of the cabinet.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6321/frame_0000.jpg", "droid-cotrack/images/episode_6321/frame_0257.jpg", "droid-cotrack/images/episode_6321/frame_0275.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the white book on top of the cabinet.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the white book on top of the cabinet., execute the following phases: 1) Initial approach phase (start at [0.562, 0.504]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.623, 0.456]). The trajectory involves 276 precise waypoints with total movement distance of 0.943." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6321", "trajectory_length": 276, "key_frame_indices": [ 0, 257, 275 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6321.json" } }, { "id": "droid_cotrack_episode_219", "task": "Put the blue and white towel in the open cabinet; Put a cloth in the middle compartment of the cabinet; Pick up the cloth from the table and put it in the cabinet", "selected_step": 1, "image": [ "droid-cotrack/images/episode_219/frame_0000.jpg", "droid-cotrack/images/episode_219/frame_0308.jpg", "droid-cotrack/images/episode_219/frame_0319.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the blue and white towel in the open cabinet; Put a cloth in the middle compartment of the cabinet; Pick up the cloth from the table and put it in the cabinet?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the blue and white towel in the open cabinet; Put a cloth in the middle compartment of the cabinet; Pick up the cloth from the table and put it in the cabinet, execute the following phases: 1) Initial approach phase (start at [0.274, 0.824]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.280, 0.820]). The trajectory involves 320 precise waypoints with total movement distance of 0.217." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_219", "trajectory_length": 320, "key_frame_indices": [ 0, 308, 319 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_219.json" } }, { "id": "droid_cotrack_episode_1993", "task": "Close the bottom drawer of the cabinet to the left.; Close the bottom drawer of the filing cabinet on the left; Close the bottom drawer of the left cabinet", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1993/frame_0000.jpg", "droid-cotrack/images/episode_1993/frame_0049.jpg", "droid-cotrack/images/episode_1993/frame_0055.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the bottom drawer of the cabinet to the left.; Close the bottom drawer of the filing cabinet on the left; Close the bottom drawer of the left cabinet?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the bottom drawer of the cabinet to the left.; Close the bottom drawer of the filing cabinet on the left; Close the bottom drawer of the left cabinet, execute the following phases: 1) Initial approach phase (start at [0.504, 0.903]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.417, 0.885]). The trajectory involves 56 precise waypoints with total movement distance of 0.108." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1993", "trajectory_length": 56, "key_frame_indices": [ 0, 49, 55 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1993.json" } }, { "id": "droid_cotrack_episode_4586", "task": "Pick up the straw from the table and put it in the black rack; Put the straw inside the black box; Put the straw in the black rack", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4586/frame_0000.jpg", "droid-cotrack/images/episode_4586/frame_0145.jpg", "droid-cotrack/images/episode_4586/frame_0247.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the straw from the table and put it in the black rack; Put the straw inside the black box; Put the straw in the black rack?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the straw from the table and put it in the black rack; Put the straw inside the black box; Put the straw in the black rack, execute the following phases: 1) Initial approach phase (start at [0.223, 0.304]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.224, 0.302]). The trajectory involves 248 precise waypoints with total movement distance of 0.493." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4586", "trajectory_length": 248, "key_frame_indices": [ 0, 145, 247 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4586.json" } }, { "id": "droid_cotrack_episode_2101", "task": "Uncover the right corner of the bed; Uncover the bed; Uncover the right corner of the bed", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2101/frame_0000.jpg", "droid-cotrack/images/episode_2101/frame_0279.jpg", "droid-cotrack/images/episode_2101/frame_0711.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Uncover the right corner of the bed; Uncover the bed; Uncover the right corner of the bed?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Uncover the right corner of the bed; Uncover the bed; Uncover the right corner of the bed, execute the following phases: 1) Initial approach phase (start at [0.413, 0.277]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.422, 0.313]). The trajectory involves 712 precise waypoints with total movement distance of 0.692." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2101", "trajectory_length": 712, "key_frame_indices": [ 0, 279, 711 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2101.json" } }, { "id": "droid_cotrack_episode_6669", "task": "Move the bottle to the right side of the table; Pick the bottle and move it to the bottom of the table; Move the bottle backwards towards the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6669/frame_0000.jpg", "droid-cotrack/images/episode_6669/frame_0116.jpg", "droid-cotrack/images/episode_6669/frame_0163.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bottle to the right side of the table; Pick the bottle and move it to the bottom of the table; Move the bottle backwards towards the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bottle to the right side of the table; Pick the bottle and move it to the bottom of the table; Move the bottle backwards towards the right, execute the following phases: 1) Initial approach phase (start at [0.345, 0.275]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.669, 0.463]). The trajectory involves 164 precise waypoints with total movement distance of 0.633." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6669", "trajectory_length": 164, "key_frame_indices": [ 0, 116, 163 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6669.json" } }, { "id": "droid_cotrack_episode_6700", "task": "Take the Rubik's cube out of the bowl and put it on the table; Take the Rubik's cube out of the bowl and put it on the table; Pick up the puzzle cube from the bowl and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6700/frame_0000.jpg", "droid-cotrack/images/episode_6700/frame_0276.jpg", "droid-cotrack/images/episode_6700/frame_0322.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the Rubik's cube out of the bowl and put it on the table; Take the Rubik's cube out of the bowl and put it on the table; Pick up the puzzle cube from the bowl and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Take the Rubik's cube out of the bowl and put it on the table; Take the Rubik's cube out of the bowl and put it on the table; Pick up the puzzle cube from the bowl and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.512, 0.464]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.560, 0.648]). The trajectory involves 323 precise waypoints with total movement distance of 0.628." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6700", "trajectory_length": 323, "key_frame_indices": [ 0, 276, 322 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6700.json" } }, { "id": "droid_cotrack_episode_10104", "task": "Pick the bottle on the box and put it on the table; Remove the white bottle from the top of the white box and place it on the table; Take the beige bottle from the box and place it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10104/frame_0000.jpg", "droid-cotrack/images/episode_10104/frame_0265.jpg", "droid-cotrack/images/episode_10104/frame_0268.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the bottle on the box and put it on the table; Remove the white bottle from the top of the white box and place it on the table; Take the beige bottle from the box and place it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the bottle on the box and put it on the table; Remove the white bottle from the top of the white box and place it on the table; Take the beige bottle from the box and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.472, 0.502]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.465, 0.572]). The trajectory involves 269 precise waypoints with total movement distance of 1.185." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10104", "trajectory_length": 269, "key_frame_indices": [ 0, 265, 268 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10104.json" } }, { "id": "droid_cotrack_episode_10058", "task": "Move the yellow object on the right side of the sink backwards; Move the yellow object on the countertop slightly backwards; Move the lemon to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10058/frame_0000.jpg", "droid-cotrack/images/episode_10058/frame_0116.jpg", "droid-cotrack/images/episode_10058/frame_0199.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the yellow object on the right side of the sink backwards; Move the yellow object on the countertop slightly backwards; Move the lemon to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the yellow object on the right side of the sink backwards; Move the yellow object on the countertop slightly backwards; Move the lemon to the right, execute the following phases: 1) Initial approach phase (start at [0.725, 0.961]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.817, 0.961]). The trajectory involves 200 precise waypoints with total movement distance of 0.335." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10058", "trajectory_length": 200, "key_frame_indices": [ 0, 116, 199 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10058.json" } }, { "id": "droid_cotrack_episode_6726", "task": "Switch the aircon on", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6726/frame_0000.jpg", "droid-cotrack/images/episode_6726/frame_0129.jpg", "droid-cotrack/images/episode_6726/frame_0175.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Switch the aircon on?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Switch the aircon on, execute the following phases: 1) Initial approach phase (start at [0.637, 0.596]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.637, 0.596]). The trajectory involves 176 precise waypoints with total movement distance of 0.062." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6726", "trajectory_length": 176, "key_frame_indices": [ 0, 129, 175 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6726.json" } }, { "id": "droid_cotrack_episode_2195", "task": "Put both coffee cups onto the cup holder", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2195/frame_0000.jpg", "droid-cotrack/images/episode_2195/frame_0271.jpg", "droid-cotrack/images/episode_2195/frame_0508.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put both coffee cups onto the cup holder?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put both coffee cups onto the cup holder, execute the following phases: 1) Initial approach phase (start at [0.675, 0.502]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.672, 0.503]). The trajectory involves 509 precise waypoints with total movement distance of 0.196." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2195", "trajectory_length": 509, "key_frame_indices": [ 0, 271, 508 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2195.json" } }, { "id": "droid_cotrack_episode_508", "task": "Put the purple plushie on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_508/frame_0000.jpg", "droid-cotrack/images/episode_508/frame_0147.jpg", "droid-cotrack/images/episode_508/frame_0202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the purple plushie on the table?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the purple plushie on the table, execute the following phases: 1) Initial approach phase (start at [0.556, 0.502]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.502, 0.589]). The trajectory involves 203 precise waypoints with total movement distance of 0.767." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_508", "trajectory_length": 203, "key_frame_indices": [ 0, 147, 202 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_508.json" } }, { "id": "droid_cotrack_episode_1674", "task": "Pick up the bottle and put it on the chair", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1674/frame_0000.jpg", "droid-cotrack/images/episode_1674/frame_0156.jpg", "droid-cotrack/images/episode_1674/frame_0257.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the bottle and put it on the chair?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the bottle and put it on the chair, execute the following phases: 1) Initial approach phase (start at [0.432, 0.854]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.554, 0.892]). The trajectory involves 258 precise waypoints with total movement distance of 0.546." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1674", "trajectory_length": 258, "key_frame_indices": [ 0, 156, 257 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1674.json" } }, { "id": "droid_cotrack_episode_542", "task": "Close the bottom left drawer.; Push the black storage bin backwards; Push the basket into the shelf", "selected_step": 1, "image": [ "droid-cotrack/images/episode_542/frame_0000.jpg", "droid-cotrack/images/episode_542/frame_0039.jpg", "droid-cotrack/images/episode_542/frame_0080.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the bottom left drawer.; Push the black storage bin backwards; Push the basket into the shelf?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the bottom left drawer.; Push the black storage bin backwards; Push the basket into the shelf, execute the following phases: 1) Initial approach phase (start at [0.571, 0.685]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.473, 0.655]). The trajectory involves 81 precise waypoints with total movement distance of 0.157." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_542", "trajectory_length": 81, "key_frame_indices": [ 0, 39, 80 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_542.json" } }, { "id": "droid_cotrack_episode_1768", "task": "Turn off the third switch from the right; Turn off the third right switch on the adapter; Turn off the third switch from the right.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1768/frame_0000.jpg", "droid-cotrack/images/episode_1768/frame_0104.jpg", "droid-cotrack/images/episode_1768/frame_0110.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn off the third switch from the right; Turn off the third right switch on the adapter; Turn off the third switch from the right.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Turn off the third switch from the right; Turn off the third right switch on the adapter; Turn off the third switch from the right., execute the following phases: 1) Initial approach phase (start at [0.580, 0.454]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.580, 0.454]). The trajectory involves 111 precise waypoints with total movement distance of 0.031." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1768", "trajectory_length": 111, "key_frame_indices": [ 0, 104, 110 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1768.json" } }, { "id": "droid_cotrack_episode_4402", "task": "Take the watermelon out of the brown box and put it inside the green bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4402/frame_0000.jpg", "droid-cotrack/images/episode_4402/frame_0182.jpg", "droid-cotrack/images/episode_4402/frame_0203.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the watermelon out of the brown box and put it inside the green bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Take the watermelon out of the brown box and put it inside the green bowl, execute the following phases: 1) Initial approach phase (start at [0.480, 0.729]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.586, 0.458]). The trajectory involves 204 precise waypoints with total movement distance of 0.838." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4402", "trajectory_length": 204, "key_frame_indices": [ 0, 182, 203 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4402.json" } }, { "id": "droid_cotrack_episode_10096", "task": "Remove the purple plushy from the pot and put it in the sink; Put the turnip plushie in the sink; Remove the red plush toy from the pot on the stove", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10096/frame_0000.jpg", "droid-cotrack/images/episode_10096/frame_0151.jpg", "droid-cotrack/images/episode_10096/frame_0183.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the purple plushy from the pot and put it in the sink; Put the turnip plushie in the sink; Remove the red plush toy from the pot on the stove?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the purple plushy from the pot and put it in the sink; Put the turnip plushie in the sink; Remove the red plush toy from the pot on the stove, execute the following phases: 1) Initial approach phase (start at [0.681, 0.684]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.588, 0.698]). The trajectory involves 184 precise waypoints with total movement distance of 0.698." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10096", "trajectory_length": 184, "key_frame_indices": [ 0, 151, 183 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10096.json" } }, { "id": "droid_cotrack_episode_4083", "task": "Open the tap; Open the tap; Turn on the faucet", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4083/frame_0000.jpg", "droid-cotrack/images/episode_4083/frame_0086.jpg", "droid-cotrack/images/episode_4083/frame_0096.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the tap; Open the tap; Turn on the faucet?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the tap; Open the tap; Turn on the faucet, execute the following phases: 1) Initial approach phase (start at [0.302, 0.550]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.303, 0.548]). The trajectory involves 97 precise waypoints with total movement distance of 0.137." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4083", "trajectory_length": 97, "key_frame_indices": [ 0, 86, 96 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4083.json" } }, { "id": "droid_cotrack_episode_492", "task": "Put the cup in the bowl; Put the cup in the bowl; Pick up the orange cup from the table and place it in the black bowl.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_492/frame_0000.jpg", "droid-cotrack/images/episode_492/frame_0045.jpg", "droid-cotrack/images/episode_492/frame_0084.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the cup in the bowl; Put the cup in the bowl; Pick up the orange cup from the table and place it in the black bowl.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the cup in the bowl; Put the cup in the bowl; Pick up the orange cup from the table and place it in the black bowl., execute the following phases: 1) Initial approach phase (start at [0.431, 0.636]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.495, 0.543]). The trajectory involves 85 precise waypoints with total movement distance of 0.557." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_492", "trajectory_length": 85, "key_frame_indices": [ 0, 45, 84 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_492.json" } }, { "id": "droid_cotrack_episode_4582", "task": "Use the spoon to move some of the contents in the bowl into the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4582/frame_0000.jpg", "droid-cotrack/images/episode_4582/frame_0441.jpg", "droid-cotrack/images/episode_4582/frame_0460.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the spoon to move some of the contents in the bowl into the cup?" }, { "from": "gpt", "value": "To complete this repositioning: Use the spoon to move some of the contents in the bowl into the cup, execute the following phases: 1) Initial approach phase (start at [0.597, 0.376]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.598, 0.379]). The trajectory involves 461 precise waypoints with total movement distance of 0.193." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4582", "trajectory_length": 461, "key_frame_indices": [ 0, 441, 460 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4582.json" } }, { "id": "droid_cotrack_episode_1745", "task": "Tip the blue bag over onto the couch; Lift the bag on the left; Pick up the bag on the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1745/frame_0000.jpg", "droid-cotrack/images/episode_1745/frame_0238.jpg", "droid-cotrack/images/episode_1745/frame_0250.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Tip the blue bag over onto the couch; Lift the bag on the left; Pick up the bag on the left?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Tip the blue bag over onto the couch; Lift the bag on the left; Pick up the bag on the left, execute the following phases: 1) Initial approach phase (start at [0.581, 0.343]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.692, 0.389]). The trajectory involves 251 precise waypoints with total movement distance of 0.419." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1745", "trajectory_length": 251, "key_frame_indices": [ 0, 238, 250 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1745.json" } }, { "id": "droid_cotrack_episode_6377", "task": "Close the top cabinet door; Close the fridge; Close the top left cabinet door", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6377/frame_0000.jpg", "droid-cotrack/images/episode_6377/frame_0198.jpg", "droid-cotrack/images/episode_6377/frame_0254.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the top cabinet door; Close the fridge; Close the top left cabinet door?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the top cabinet door; Close the fridge; Close the top left cabinet door, execute the following phases: 1) Initial approach phase (start at [0.543, 0.469]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.512, 0.399]). The trajectory involves 255 precise waypoints with total movement distance of 0.196." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6377", "trajectory_length": 255, "key_frame_indices": [ 0, 198, 254 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6377.json" } }, { "id": "droid_cotrack_episode_6362", "task": "Place the cup in the bowl; Put the orange cup inside the black bowl; Put the cup in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6362/frame_0000.jpg", "droid-cotrack/images/episode_6362/frame_0058.jpg", "droid-cotrack/images/episode_6362/frame_0103.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the cup in the bowl; Put the orange cup inside the black bowl; Put the cup in the bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Place the cup in the bowl; Put the orange cup inside the black bowl; Put the cup in the bowl, execute the following phases: 1) Initial approach phase (start at [0.455, 0.671]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.483, 0.538]). The trajectory involves 104 precise waypoints with total movement distance of 0.570." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6362", "trajectory_length": 104, "key_frame_indices": [ 0, 58, 103 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6362.json" } }, { "id": "droid_cotrack_episode_1682", "task": "Use the spoon to put some of the items on the paper towel in the pack", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1682/frame_0000.jpg", "droid-cotrack/images/episode_1682/frame_0096.jpg", "droid-cotrack/images/episode_1682/frame_0345.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the spoon to put some of the items on the paper towel in the pack?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Use the spoon to put some of the items on the paper towel in the pack, execute the following phases: 1) Initial approach phase (start at [0.685, 0.810]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.681, 0.796]). The trajectory involves 346 precise waypoints with total movement distance of 0.597." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1682", "trajectory_length": 346, "key_frame_indices": [ 0, 96, 345 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1682.json" } }, { "id": "droid_cotrack_episode_10241", "task": "Pick the marker and put it in the bowl; Put the marker inside the bowl; Pick up the marker from the table and put it in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10241/frame_0000.jpg", "droid-cotrack/images/episode_10241/frame_0141.jpg", "droid-cotrack/images/episode_10241/frame_0223.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the marker and put it in the bowl; Put the marker inside the bowl; Pick up the marker from the table and put it in the bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the marker and put it in the bowl; Put the marker inside the bowl; Pick up the marker from the table and put it in the bowl, execute the following phases: 1) Initial approach phase (start at [0.669, 0.781]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.580, 0.390]). The trajectory involves 224 precise waypoints with total movement distance of 0.708." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10241", "trajectory_length": 224, "key_frame_indices": [ 0, 141, 223 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10241.json" } }, { "id": "droid_cotrack_episode_6322", "task": "Put the shaker in the pot; Put the salt shaker in the silver pot; Put the salt shaker inside the silver bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6322/frame_0000.jpg", "droid-cotrack/images/episode_6322/frame_0067.jpg", "droid-cotrack/images/episode_6322/frame_0115.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the shaker in the pot; Put the salt shaker in the silver pot; Put the salt shaker inside the silver bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the shaker in the pot; Put the salt shaker in the silver pot; Put the salt shaker inside the silver bowl, execute the following phases: 1) Initial approach phase (start at [0.533, 0.400]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.523, 0.272]). The trajectory involves 116 precise waypoints with total movement distance of 0.362." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6322", "trajectory_length": 116, "key_frame_indices": [ 0, 67, 115 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6322.json" } }, { "id": "droid_cotrack_episode_6782", "task": "Move the long cylindrical block forward", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6782/frame_0000.jpg", "droid-cotrack/images/episode_6782/frame_0122.jpg", "droid-cotrack/images/episode_6782/frame_0128.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the long cylindrical block forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the long cylindrical block forward, execute the following phases: 1) Initial approach phase (start at [0.540, 0.413]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.544, 0.415]). The trajectory involves 129 precise waypoints with total movement distance of 0.040." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6782", "trajectory_length": 129, "key_frame_indices": [ 0, 122, 128 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6782.json" } }, { "id": "droid_cotrack_episode_6497", "task": "Slide the tap to the center of the sink", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6497/frame_0000.jpg", "droid-cotrack/images/episode_6497/frame_0107.jpg", "droid-cotrack/images/episode_6497/frame_0116.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the tap to the center of the sink?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the tap to the center of the sink, execute the following phases: 1) Initial approach phase (start at [0.635, 0.585]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.635, 0.585]). The trajectory involves 117 precise waypoints with total movement distance of 0.052." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6497", "trajectory_length": 117, "key_frame_indices": [ 0, 107, 116 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6497.json" } }, { "id": "droid_cotrack_episode_6384", "task": "Take the pencil out of the white cup; Remove the pencil from the cup and put it on the table; Remove the pencil out of the white cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6384/frame_0000.jpg", "droid-cotrack/images/episode_6384/frame_0042.jpg", "droid-cotrack/images/episode_6384/frame_0130.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the pencil out of the white cup; Remove the pencil from the cup and put it on the table; Remove the pencil out of the white cup?" }, { "from": "gpt", "value": "To complete this repositioning: Take the pencil out of the white cup; Remove the pencil from the cup and put it on the table; Remove the pencil out of the white cup, execute the following phases: 1) Initial approach phase (start at [0.623, 0.546]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.621, 0.546]). The trajectory involves 131 precise waypoints with total movement distance of 0.035." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6384", "trajectory_length": 131, "key_frame_indices": [ 0, 42, 130 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6384.json" } }, { "id": "droid_cotrack_episode_6821", "task": "Wipe the silver lid with the paper towel", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6821/frame_0000.jpg", "droid-cotrack/images/episode_6821/frame_0076.jpg", "droid-cotrack/images/episode_6821/frame_0268.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Wipe the silver lid with the paper towel?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Wipe the silver lid with the paper towel, execute the following phases: 1) Initial approach phase (start at [0.691, 0.733]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.612, 0.546]). The trajectory involves 269 precise waypoints with total movement distance of 1.361." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6821", "trajectory_length": 269, "key_frame_indices": [ 0, 76, 268 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6821.json" } }, { "id": "droid_cotrack_episode_912", "task": "Put the coffee pod inside the coffeemaker; Put the small bottle on the table into the coffee maker; Put the coffee pod in the coffee machine", "selected_step": 1, "image": [ "droid-cotrack/images/episode_912/frame_0000.jpg", "droid-cotrack/images/episode_912/frame_0355.jpg", "droid-cotrack/images/episode_912/frame_0358.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the coffee pod inside the coffeemaker; Put the small bottle on the table into the coffee maker; Put the coffee pod in the coffee machine?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the coffee pod inside the coffeemaker; Put the small bottle on the table into the coffee maker; Put the coffee pod in the coffee machine, execute the following phases: 1) Initial approach phase (start at [0.636, 0.763]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.635, 0.768]). The trajectory involves 359 precise waypoints with total movement distance of 0.122." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_912", "trajectory_length": 359, "key_frame_indices": [ 0, 355, 358 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_912.json" } }, { "id": "droid_cotrack_episode_2140", "task": "Put the marker in the white bowl; Put the pen in the bowl; Put the pen in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2140/frame_0000.jpg", "droid-cotrack/images/episode_2140/frame_0127.jpg", "droid-cotrack/images/episode_2140/frame_0206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the white bowl; Put the pen in the bowl; Put the pen in the bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the marker in the white bowl; Put the pen in the bowl; Put the pen in the bowl, execute the following phases: 1) Initial approach phase (start at [0.501, 0.528]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.511, 0.488]). The trajectory involves 207 precise waypoints with total movement distance of 0.285." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2140", "trajectory_length": 207, "key_frame_indices": [ 0, 127, 206 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2140.json" } }, { "id": "droid_cotrack_episode_1475", "task": "Move the basketball to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1475/frame_0000.jpg", "droid-cotrack/images/episode_1475/frame_0123.jpg", "droid-cotrack/images/episode_1475/frame_0158.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the basketball to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the basketball to the right, execute the following phases: 1) Initial approach phase (start at [0.434, 0.788]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.653, 0.611]). The trajectory involves 159 precise waypoints with total movement distance of 0.516." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1475", "trajectory_length": 159, "key_frame_indices": [ 0, 123, 158 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1475.json" } }, { "id": "droid_cotrack_episode_238", "task": "Put one of the straws on the counter inside the open drawer; Put one of the straws from the counter in the open drawer; Put a pair of chopsticks in the open drawer", "selected_step": 1, "image": [ "droid-cotrack/images/episode_238/frame_0000.jpg", "droid-cotrack/images/episode_238/frame_0082.jpg", "droid-cotrack/images/episode_238/frame_0102.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put one of the straws on the counter inside the open drawer; Put one of the straws from the counter in the open drawer; Put a pair of chopsticks in the open drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Put one of the straws on the counter inside the open drawer; Put one of the straws from the counter in the open drawer; Put a pair of chopsticks in the open drawer, execute the following phases: 1) Initial approach phase (start at [0.660, 0.454]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.658, 0.454]). The trajectory involves 103 precise waypoints with total movement distance of 0.028." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_238", "trajectory_length": 103, "key_frame_indices": [ 0, 82, 102 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_238.json" } }, { "id": "droid_cotrack_episode_608", "task": "Take the tomato out of the pot and put it on the table; Put the tomato on the table; Take the tomato out of the black pot and place it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_608/frame_0000.jpg", "droid-cotrack/images/episode_608/frame_0185.jpg", "droid-cotrack/images/episode_608/frame_0276.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the tomato out of the pot and put it on the table; Put the tomato on the table; Take the tomato out of the black pot and place it on the table?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Take the tomato out of the pot and put it on the table; Put the tomato on the table; Take the tomato out of the black pot and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.435, 0.372]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.535, 0.370]). The trajectory involves 277 precise waypoints with total movement distance of 0.677." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_608", "trajectory_length": 277, "key_frame_indices": [ 0, 185, 276 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_608.json" } }, { "id": "droid_cotrack_episode_6545", "task": "Close the bin", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6545/frame_0000.jpg", "droid-cotrack/images/episode_6545/frame_0158.jpg", "droid-cotrack/images/episode_6545/frame_0184.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the bin?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the bin, execute the following phases: 1) Initial approach phase (start at [0.359, 0.348]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.643]). The trajectory involves 185 precise waypoints with total movement distance of 0.504." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6545", "trajectory_length": 185, "key_frame_indices": [ 0, 158, 184 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6545.json" } }, { "id": "droid_cotrack_episode_10049", "task": "Pick up the bottle on the counter and put it on the stove", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10049/frame_0000.jpg", "droid-cotrack/images/episode_10049/frame_0167.jpg", "droid-cotrack/images/episode_10049/frame_0241.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the bottle on the counter and put it on the stove?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the bottle on the counter and put it on the stove, execute the following phases: 1) Initial approach phase (start at [0.711, 0.695]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.714, 0.693]). The trajectory involves 242 precise waypoints with total movement distance of 0.109." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10049", "trajectory_length": 242, "key_frame_indices": [ 0, 167, 241 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10049.json" } }, { "id": "droid_cotrack_episode_1765", "task": "Open the lid of the plastic container; Open the clear container; Open the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1765/frame_0000.jpg", "droid-cotrack/images/episode_1765/frame_0144.jpg", "droid-cotrack/images/episode_1765/frame_0155.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the lid of the plastic container; Open the clear container; Open the bowl?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the lid of the plastic container; Open the clear container; Open the bowl, execute the following phases: 1) Initial approach phase (start at [0.214, 0.604]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.214, 0.626]). The trajectory involves 156 precise waypoints with total movement distance of 0.201." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1765", "trajectory_length": 156, "key_frame_indices": [ 0, 144, 155 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1765.json" } }, { "id": "droid_cotrack_episode_4094", "task": "Place the marker on the table; Remove the marker from the mug cup and place it on the table; Take the marker out of the red mug", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4094/frame_0000.jpg", "droid-cotrack/images/episode_4094/frame_0144.jpg", "droid-cotrack/images/episode_4094/frame_0146.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the marker on the table; Remove the marker from the mug cup and place it on the table; Take the marker out of the red mug?" }, { "from": "gpt", "value": "To complete this repositioning: Place the marker on the table; Remove the marker from the mug cup and place it on the table; Take the marker out of the red mug, execute the following phases: 1) Initial approach phase (start at [0.697, 0.463]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.700, 0.464]). The trajectory involves 147 precise waypoints with total movement distance of 0.048." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4094", "trajectory_length": 147, "key_frame_indices": [ 0, 144, 146 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4094.json" } }, { "id": "droid_cotrack_episode_1936", "task": "Push the bucket to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1936/frame_0000.jpg", "droid-cotrack/images/episode_1936/frame_0087.jpg", "droid-cotrack/images/episode_1936/frame_0411.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the bucket to the right?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push the bucket to the right, execute the following phases: 1) Initial approach phase (start at [0.654, 0.701]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.583, 0.617]). The trajectory involves 412 precise waypoints with total movement distance of 0.904." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1936", "trajectory_length": 412, "key_frame_indices": [ 0, 87, 411 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1936.json" } }, { "id": "droid_cotrack_episode_1612", "task": "Press a button on the electric fan", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1612/frame_0000.jpg", "droid-cotrack/images/episode_1612/frame_0141.jpg", "droid-cotrack/images/episode_1612/frame_0170.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Press a button on the electric fan?" }, { "from": "gpt", "value": "To complete this button/switch activation: Press a button on the electric fan, execute the following phases: 1) Initial approach phase (start at [0.691, 0.637]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.691, 0.636]). The trajectory involves 171 precise waypoints with total movement distance of 0.045." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1612", "trajectory_length": 171, "key_frame_indices": [ 0, 141, 170 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1612.json" } }, { "id": "droid_cotrack_episode_833", "task": "Remove the marker from the cup and put it on the table; Take the red marker out of the yellow mug; Remove the marker from the cup and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_833/frame_0000.jpg", "droid-cotrack/images/episode_833/frame_0143.jpg", "droid-cotrack/images/episode_833/frame_0168.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker from the cup and put it on the table; Take the red marker out of the yellow mug; Remove the marker from the cup and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the marker from the cup and put it on the table; Take the red marker out of the yellow mug; Remove the marker from the cup and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.727, 0.362]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.725, 0.363]). The trajectory involves 169 precise waypoints with total movement distance of 0.382." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_833", "trajectory_length": 169, "key_frame_indices": [ 0, 143, 168 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_833.json" } }, { "id": "droid_cotrack_episode_2142", "task": "Move the pen from the bowl to the table; Remove the pen from the bowl and put it on the table; Remove the black pen from the grey bowl and place it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2142/frame_0000.jpg", "droid-cotrack/images/episode_2142/frame_0177.jpg", "droid-cotrack/images/episode_2142/frame_0189.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the pen from the bowl to the table; Remove the pen from the bowl and put it on the table; Remove the black pen from the grey bowl and place it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Move the pen from the bowl to the table; Remove the pen from the bowl and put it on the table; Remove the black pen from the grey bowl and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.535, 0.377]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.581, 0.468]). The trajectory involves 190 precise waypoints with total movement distance of 0.729." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2142", "trajectory_length": 190, "key_frame_indices": [ 0, 177, 189 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2142.json" } }, { "id": "droid_cotrack_episode_10312", "task": "Pick up the black cloth from the table and put it on the chair back.; Hang the jersey on the back of the char; Hang the black clothing on the backrest of the chair", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10312/frame_0000.jpg", "droid-cotrack/images/episode_10312/frame_0271.jpg", "droid-cotrack/images/episode_10312/frame_0309.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the black cloth from the table and put it on the chair back.; Hang the jersey on the back of the char; Hang the black clothing on the backrest of the chair?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the black cloth from the table and put it on the chair back.; Hang the jersey on the back of the char; Hang the black clothing on the backrest of the chair, execute the following phases: 1) Initial approach phase (start at [0.573, 0.675]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.514, 0.711]). The trajectory involves 310 precise waypoints with total movement distance of 0.336." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10312", "trajectory_length": 310, "key_frame_indices": [ 0, 271, 309 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10312.json" } }, { "id": "droid_cotrack_episode_1964", "task": "Put the last block on the built tower", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1964/frame_0000.jpg", "droid-cotrack/images/episode_1964/frame_0079.jpg", "droid-cotrack/images/episode_1964/frame_0129.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the last block on the built tower?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the last block on the built tower, execute the following phases: 1) Initial approach phase (start at [0.507, 0.360]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.578, 0.195]). The trajectory involves 130 precise waypoints with total movement distance of 1.162." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1964", "trajectory_length": 130, "key_frame_indices": [ 0, 79, 129 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1964.json" } }, { "id": "droid_cotrack_episode_1727", "task": "Take the brown plush toy out of the white and green pot on the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1727/frame_0000.jpg", "droid-cotrack/images/episode_1727/frame_0112.jpg", "droid-cotrack/images/episode_1727/frame_0125.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the brown plush toy out of the white and green pot on the left?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Take the brown plush toy out of the white and green pot on the left, execute the following phases: 1) Initial approach phase (start at [0.470, -0.013]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.660, 0.182]). The trajectory involves 126 precise waypoints with total movement distance of 0.607." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1727", "trajectory_length": 126, "key_frame_indices": [ 0, 112, 125 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1727.json" } }, { "id": "droid_cotrack_episode_1289", "task": "Put the the cup like item in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1289/frame_0000.jpg", "droid-cotrack/images/episode_1289/frame_0102.jpg", "droid-cotrack/images/episode_1289/frame_0109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the the cup like item in the bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the the cup like item in the bowl, execute the following phases: 1) Initial approach phase (start at [0.574, 0.572]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.542, 0.561]). The trajectory involves 110 precise waypoints with total movement distance of 0.259." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1289", "trajectory_length": 110, "key_frame_indices": [ 0, 102, 109 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1289.json" } }, { "id": "droid_cotrack_episode_4579", "task": "Remove the green plushie out of the box", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4579/frame_0000.jpg", "droid-cotrack/images/episode_4579/frame_0308.jpg", "droid-cotrack/images/episode_4579/frame_0369.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the green plushie out of the box?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the green plushie out of the box, execute the following phases: 1) Initial approach phase (start at [0.575, 0.728]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.570, 0.725]). The trajectory involves 370 precise waypoints with total movement distance of 1.599." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4579", "trajectory_length": 370, "key_frame_indices": [ 0, 308, 369 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4579.json" } }, { "id": "droid_cotrack_episode_939", "task": "Put the yellow block into the blue cup.; Put the yellow block in the cup.; Pick up the yellow object and put it in the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_939/frame_0000.jpg", "droid-cotrack/images/episode_939/frame_0056.jpg", "droid-cotrack/images/episode_939/frame_0128.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the yellow block into the blue cup.; Put the yellow block in the cup.; Pick up the yellow object and put it in the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the yellow block into the blue cup.; Put the yellow block in the cup.; Pick up the yellow object and put it in the cup, execute the following phases: 1) Initial approach phase (start at [0.478, 0.597]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.578, 0.455]). The trajectory involves 129 precise waypoints with total movement distance of 0.500." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_939", "trajectory_length": 129, "key_frame_indices": [ 0, 56, 128 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_939.json" } }, { "id": "droid_cotrack_episode_1578", "task": "Move the cup backward; Move the mug forward; Move the yellow mug backwards", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1578/frame_0000.jpg", "droid-cotrack/images/episode_1578/frame_0109.jpg", "droid-cotrack/images/episode_1578/frame_0151.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup backward; Move the mug forward; Move the yellow mug backwards?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup backward; Move the mug forward; Move the yellow mug backwards, execute the following phases: 1) Initial approach phase (start at [0.635, 0.691]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.557, 0.506]). The trajectory involves 152 precise waypoints with total movement distance of 0.283." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1578", "trajectory_length": 152, "key_frame_indices": [ 0, 109, 151 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1578.json" } }, { "id": "droid_cotrack_episode_1282", "task": "Remove the glass lid from the black pot.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1282/frame_0000.jpg", "droid-cotrack/images/episode_1282/frame_0102.jpg", "droid-cotrack/images/episode_1282/frame_0163.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the glass lid from the black pot.?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the glass lid from the black pot., execute the following phases: 1) Initial approach phase (start at [0.330, 0.586]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.322, 0.595]). The trajectory involves 164 precise waypoints with total movement distance of 0.504." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1282", "trajectory_length": 164, "key_frame_indices": [ 0, 102, 163 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1282.json" } }, { "id": "droid_cotrack_episode_478", "task": "Put then remove the orange thing from the cup and put it on the table; Pick up the pen and put it in the cup; Pick up the orange object from the table and put it in the cup. Pick up the orange object from the cup and put it back on the table.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_478/frame_0000.jpg", "droid-cotrack/images/episode_478/frame_0195.jpg", "droid-cotrack/images/episode_478/frame_0350.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put then remove the orange thing from the cup and put it on the table; Pick up the pen and put it in the cup; Pick up the orange object from the table and put it in the cup. Pick up the orange object from the cup and put it back on the table.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put then remove the orange thing from the cup and put it on the table; Pick up the pen and put it in the cup; Pick up the orange object from the table and put it in the cup. Pick up the orange object from the cup and put it back on the table., execute the following phases: 1) Initial approach phase (start at [0.625, 0.639]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.582, 0.588]). The trajectory involves 351 precise waypoints with total movement distance of 0.562." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_478", "trajectory_length": 351, "key_frame_indices": [ 0, 195, 350 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_478.json" } }, { "id": "droid_cotrack_episode_6017", "task": "Close the drawer; Close the drawer; Close the drawer", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6017/frame_0000.jpg", "droid-cotrack/images/episode_6017/frame_0087.jpg", "droid-cotrack/images/episode_6017/frame_0167.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the drawer; Close the drawer; Close the drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the drawer; Close the drawer; Close the drawer, execute the following phases: 1) Initial approach phase (start at [0.700, 0.546]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.526, 0.505]). The trajectory involves 168 precise waypoints with total movement distance of 0.295." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6017", "trajectory_length": 168, "key_frame_indices": [ 0, 87, 167 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6017.json" } }, { "id": "droid_cotrack_episode_1295", "task": "Pick up the snack from the sink and place it on the counter", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1295/frame_0000.jpg", "droid-cotrack/images/episode_1295/frame_0139.jpg", "droid-cotrack/images/episode_1295/frame_0219.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the snack from the sink and place it on the counter?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the snack from the sink and place it on the counter, execute the following phases: 1) Initial approach phase (start at [0.516, 0.906]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.346, 0.784]). The trajectory involves 220 precise waypoints with total movement distance of 0.503." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1295", "trajectory_length": 220, "key_frame_indices": [ 0, 139, 219 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1295.json" } }, { "id": "droid_cotrack_episode_4514", "task": "Put the orange object into the black bowl.; Place the orange object inside the black bowl; Put the metal object with the orange handle in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4514/frame_0000.jpg", "droid-cotrack/images/episode_4514/frame_0075.jpg", "droid-cotrack/images/episode_4514/frame_0083.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange object into the black bowl.; Place the orange object inside the black bowl; Put the metal object with the orange handle in the bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the orange object into the black bowl.; Place the orange object inside the black bowl; Put the metal object with the orange handle in the bowl, execute the following phases: 1) Initial approach phase (start at [0.675, 0.576]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.589, 0.684]). The trajectory involves 84 precise waypoints with total movement distance of 0.566." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4514", "trajectory_length": 84, "key_frame_indices": [ 0, 75, 83 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4514.json" } }, { "id": "droid_cotrack_episode_2170", "task": "Put the blue marker on the table; Take the marker out of the cup and put it on the table; Remove the pen from the cup and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2170/frame_0000.jpg", "droid-cotrack/images/episode_2170/frame_0156.jpg", "droid-cotrack/images/episode_2170/frame_0192.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the blue marker on the table; Take the marker out of the cup and put it on the table; Remove the pen from the cup and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Put the blue marker on the table; Take the marker out of the cup and put it on the table; Remove the pen from the cup and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.594, 0.282]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.596, 0.281]). The trajectory involves 193 precise waypoints with total movement distance of 0.072." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2170", "trajectory_length": 193, "key_frame_indices": [ 0, 156, 192 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2170.json" } }, { "id": "droid_cotrack_episode_6808", "task": "Unfold the white towel and lay it out on the tabletop.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6808/frame_0000.jpg", "droid-cotrack/images/episode_6808/frame_0320.jpg", "droid-cotrack/images/episode_6808/frame_0505.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the white towel and lay it out on the tabletop.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Unfold the white towel and lay it out on the tabletop., execute the following phases: 1) Initial approach phase (start at [0.728, 0.216]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.662, 0.392]). The trajectory involves 506 precise waypoints with total movement distance of 1.490." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6808", "trajectory_length": 506, "key_frame_indices": [ 0, 320, 505 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6808.json" } }, { "id": "droid_cotrack_episode_6154", "task": "Pick up the black bowl and put it in the peach bowl; Put the black bowl in the brown bowl; Pick up the black bowl and put it in the pink bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6154/frame_0000.jpg", "droid-cotrack/images/episode_6154/frame_0060.jpg", "droid-cotrack/images/episode_6154/frame_0111.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the black bowl and put it in the peach bowl; Put the black bowl in the brown bowl; Pick up the black bowl and put it in the pink bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the black bowl and put it in the peach bowl; Put the black bowl in the brown bowl; Pick up the black bowl and put it in the pink bowl, execute the following phases: 1) Initial approach phase (start at [0.335, 0.561]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.421, 0.448]). The trajectory involves 112 precise waypoints with total movement distance of 0.404." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6154", "trajectory_length": 112, "key_frame_indices": [ 0, 60, 111 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6154.json" } }, { "id": "droid_cotrack_episode_420", "task": "Move the mug cup from the right to the left of the dishwasher; Move the mug in the dishwasher to the left; Move the white mug to the left side of the dishwasher rack", "selected_step": 1, "image": [ "droid-cotrack/images/episode_420/frame_0000.jpg", "droid-cotrack/images/episode_420/frame_0298.jpg", "droid-cotrack/images/episode_420/frame_0326.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug cup from the right to the left of the dishwasher; Move the mug in the dishwasher to the left; Move the white mug to the left side of the dishwasher rack?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug cup from the right to the left of the dishwasher; Move the mug in the dishwasher to the left; Move the white mug to the left side of the dishwasher rack, execute the following phases: 1) Initial approach phase (start at [0.529, 0.907]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.368, 0.849]). The trajectory involves 327 precise waypoints with total movement distance of 0.617." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_420", "trajectory_length": 327, "key_frame_indices": [ 0, 298, 326 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_420.json" } }, { "id": "droid_cotrack_episode_281", "task": "Take the pen out of the bowl and put it on the table; Remove the marker from the bowl and place it on the table; Remove the marker from the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_281/frame_0000.jpg", "droid-cotrack/images/episode_281/frame_0131.jpg", "droid-cotrack/images/episode_281/frame_0206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the pen out of the bowl and put it on the table; Remove the marker from the bowl and place it on the table; Remove the marker from the bowl?" }, { "from": "gpt", "value": "To complete this repositioning: Take the pen out of the bowl and put it on the table; Remove the marker from the bowl and place it on the table; Remove the marker from the bowl, execute the following phases: 1) Initial approach phase (start at [0.742, 0.425]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.703, 0.316]). The trajectory involves 207 precise waypoints with total movement distance of 0.760." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_281", "trajectory_length": 207, "key_frame_indices": [ 0, 131, 206 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_281.json" } }, { "id": "droid_cotrack_episode_868", "task": "Put the yellow block in the silver bowl; Pick up the yellow block and place it in the pot; Put the yellow block inside the pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_868/frame_0000.jpg", "droid-cotrack/images/episode_868/frame_0077.jpg", "droid-cotrack/images/episode_868/frame_0121.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the yellow block in the silver bowl; Pick up the yellow block and place it in the pot; Put the yellow block inside the pot?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the yellow block in the silver bowl; Pick up the yellow block and place it in the pot; Put the yellow block inside the pot, execute the following phases: 1) Initial approach phase (start at [0.731, 0.572]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.462, 0.391]). The trajectory involves 122 precise waypoints with total movement distance of 0.537." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_868", "trajectory_length": 122, "key_frame_indices": [ 0, 77, 121 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_868.json" } }, { "id": "droid_cotrack_episode_712", "task": "Remove the marker from the cup and put it on the table; Remove the marker from the mug; Pick up the marker from the cup and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_712/frame_0000.jpg", "droid-cotrack/images/episode_712/frame_0184.jpg", "droid-cotrack/images/episode_712/frame_0206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker from the cup and put it on the table; Remove the marker from the mug; Pick up the marker from the cup and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Remove the marker from the cup and put it on the table; Remove the marker from the mug; Pick up the marker from the cup and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.521, 0.546]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.420, 0.365]). The trajectory involves 207 precise waypoints with total movement distance of 1.683." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_712", "trajectory_length": 207, "key_frame_indices": [ 0, 184, 206 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_712.json" } }, { "id": "droid_cotrack_episode_1450", "task": "Put the marker in the bowl; Pick up the marker on the stove and put it in the cup; Put the marker inside the mug", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1450/frame_0000.jpg", "droid-cotrack/images/episode_1450/frame_0109.jpg", "droid-cotrack/images/episode_1450/frame_0123.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the bowl; Pick up the marker on the stove and put it in the cup; Put the marker inside the mug?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the marker in the bowl; Pick up the marker on the stove and put it in the cup; Put the marker inside the mug, execute the following phases: 1) Initial approach phase (start at [0.491, 0.500]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.571, 0.547]). The trajectory involves 124 precise waypoints with total movement distance of 0.668." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1450", "trajectory_length": 124, "key_frame_indices": [ 0, 109, 123 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1450.json" } }, { "id": "droid_cotrack_episode_1376", "task": "Put the silver tape in the bowl; Put the tape in the bowl; Put the masking tape in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1376/frame_0000.jpg", "droid-cotrack/images/episode_1376/frame_0112.jpg", "droid-cotrack/images/episode_1376/frame_0157.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the silver tape in the bowl; Put the tape in the bowl; Put the masking tape in the bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the silver tape in the bowl; Put the tape in the bowl; Put the masking tape in the bowl, execute the following phases: 1) Initial approach phase (start at [0.515, 0.636]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.514, 0.638]). The trajectory involves 158 precise waypoints with total movement distance of 0.041." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1376", "trajectory_length": 158, "key_frame_indices": [ 0, 112, 157 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1376.json" } }, { "id": "droid_cotrack_episode_1042", "task": "Press the button on the lamp", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1042/frame_0000.jpg", "droid-cotrack/images/episode_1042/frame_0193.jpg", "droid-cotrack/images/episode_1042/frame_0196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Press the button on the lamp?" }, { "from": "gpt", "value": "To complete this button/switch activation: Press the button on the lamp, execute the following phases: 1) Initial approach phase (start at [0.472, 0.512]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.472, 0.511]). The trajectory involves 197 precise waypoints with total movement distance of 0.076." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1042", "trajectory_length": 197, "key_frame_indices": [ 0, 193, 196 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1042.json" } }, { "id": "droid_cotrack_episode_4531", "task": "Move the blue bottle to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4531/frame_0000.jpg", "droid-cotrack/images/episode_4531/frame_0355.jpg", "droid-cotrack/images/episode_4531/frame_0544.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the blue bottle to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the blue bottle to the left, execute the following phases: 1) Initial approach phase (start at [0.700, 0.684]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.411, 0.630]). The trajectory involves 545 precise waypoints with total movement distance of 0.908." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4531", "trajectory_length": 545, "key_frame_indices": [ 0, 355, 544 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4531.json" } }, { "id": "droid_cotrack_episode_6747", "task": "Pick up the bottle and put it in the cabinet; Put the bottle inside the open cabinet; Pick the bottle on the counter and put it in the cupboard", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6747/frame_0000.jpg", "droid-cotrack/images/episode_6747/frame_0253.jpg", "droid-cotrack/images/episode_6747/frame_0264.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the bottle and put it in the cabinet; Put the bottle inside the open cabinet; Pick the bottle on the counter and put it in the cupboard?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the bottle and put it in the cabinet; Put the bottle inside the open cabinet; Pick the bottle on the counter and put it in the cupboard, execute the following phases: 1) Initial approach phase (start at [0.714, 0.605]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.718, 0.436]). The trajectory involves 265 precise waypoints with total movement distance of 0.988." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6747", "trajectory_length": 265, "key_frame_indices": [ 0, 253, 264 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6747.json" } }, { "id": "droid_cotrack_episode_1971", "task": "Fold the towel once; Fold the cloth on the table; Fold the yellow cloth", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1971/frame_0000.jpg", "droid-cotrack/images/episode_1971/frame_0251.jpg", "droid-cotrack/images/episode_1971/frame_0281.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the towel once; Fold the cloth on the table; Fold the yellow cloth?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Fold the towel once; Fold the cloth on the table; Fold the yellow cloth, execute the following phases: 1) Initial approach phase (start at [0.626, 0.805]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.497, 0.752]). The trajectory involves 282 precise waypoints with total movement distance of 0.661." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1971", "trajectory_length": 282, "key_frame_indices": [ 0, 251, 281 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1971.json" } }, { "id": "droid_cotrack_episode_6504", "task": "Center the faucet; Move the faucet nozzle to the center; Turn the tap nozzle to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6504/frame_0000.jpg", "droid-cotrack/images/episode_6504/frame_0049.jpg", "droid-cotrack/images/episode_6504/frame_0135.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Center the faucet; Move the faucet nozzle to the center; Turn the tap nozzle to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Center the faucet; Move the faucet nozzle to the center; Turn the tap nozzle to the left, execute the following phases: 1) Initial approach phase (start at [0.745, 0.223]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.741, 0.223]). The trajectory involves 136 precise waypoints with total movement distance of 0.078." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6504", "trajectory_length": 136, "key_frame_indices": [ 0, 49, 135 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6504.json" } }, { "id": "droid_cotrack_episode_4297", "task": "Use the tea towel to wipe the table; Use the towel to wipe the table; Use the white towel to wipe the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4297/frame_0000.jpg", "droid-cotrack/images/episode_4297/frame_0147.jpg", "droid-cotrack/images/episode_4297/frame_0249.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the tea towel to wipe the table; Use the towel to wipe the table; Use the white towel to wipe the table?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Use the tea towel to wipe the table; Use the towel to wipe the table; Use the white towel to wipe the table, execute the following phases: 1) Initial approach phase (start at [0.663, 0.742]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.448, 0.628]). The trajectory involves 250 precise waypoints with total movement distance of 3.592." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4297", "trajectory_length": 250, "key_frame_indices": [ 0, 147, 249 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4297.json" } }, { "id": "droid_cotrack_episode_1232", "task": "Put the pen inside the bowl; Pick the pen and put it in the bowl; Place the marker in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1232/frame_0000.jpg", "droid-cotrack/images/episode_1232/frame_0060.jpg", "droid-cotrack/images/episode_1232/frame_0162.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pen inside the bowl; Pick the pen and put it in the bowl; Place the marker in the bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the pen inside the bowl; Pick the pen and put it in the bowl; Place the marker in the bowl, execute the following phases: 1) Initial approach phase (start at [0.609, 0.685]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.610, 0.685]). The trajectory involves 163 precise waypoints with total movement distance of 0.067." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1232", "trajectory_length": 163, "key_frame_indices": [ 0, 60, 162 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1232.json" } }, { "id": "droid_cotrack_episode_2171", "task": "Close the bottom drawer; Close the bottom drawer of the file cabinet; Close the bottom drawer of the file cabinet on the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2171/frame_0000.jpg", "droid-cotrack/images/episode_2171/frame_0066.jpg", "droid-cotrack/images/episode_2171/frame_0067.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the bottom drawer; Close the bottom drawer of the file cabinet; Close the bottom drawer of the file cabinet on the right?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the bottom drawer; Close the bottom drawer of the file cabinet; Close the bottom drawer of the file cabinet on the right, execute the following phases: 1) Initial approach phase (start at [0.633, 0.814]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.619, 0.798]). The trajectory involves 68 precise waypoints with total movement distance of 0.058." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2171", "trajectory_length": 68, "key_frame_indices": [ 0, 66, 67 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2171.json" } }, { "id": "droid_cotrack_episode_1105", "task": "Pick the marker and put it in the cup; Put the marker on the table in the cup; Pick up the marker from the table and put it in the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1105/frame_0000.jpg", "droid-cotrack/images/episode_1105/frame_0075.jpg", "droid-cotrack/images/episode_1105/frame_0150.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the marker and put it in the cup; Put the marker on the table in the cup; Pick up the marker from the table and put it in the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the marker and put it in the cup; Put the marker on the table in the cup; Pick up the marker from the table and put it in the cup, execute the following phases: 1) Initial approach phase (start at [0.531, 0.689]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.531, 0.687]). The trajectory involves 151 precise waypoints with total movement distance of 0.127." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1105", "trajectory_length": 151, "key_frame_indices": [ 0, 75, 150 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1105.json" } }, { "id": "droid_cotrack_episode_2167", "task": "Take the pen out of the bowl and put it on the table; Remove the marker from the bowl and put it on the table; Take the green marker out of the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2167/frame_0000.jpg", "droid-cotrack/images/episode_2167/frame_0093.jpg", "droid-cotrack/images/episode_2167/frame_0157.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the pen out of the bowl and put it on the table; Remove the marker from the bowl and put it on the table; Take the green marker out of the bowl?" }, { "from": "gpt", "value": "To complete this repositioning: Take the pen out of the bowl and put it on the table; Remove the marker from the bowl and put it on the table; Take the green marker out of the bowl, execute the following phases: 1) Initial approach phase (start at [0.553, 0.686]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.554, 0.685]). The trajectory involves 158 precise waypoints with total movement distance of 0.068." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2167", "trajectory_length": 158, "key_frame_indices": [ 0, 93, 157 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2167.json" } }, { "id": "droid_cotrack_episode_220", "task": "Remove one bottle from the tray and put it inside the clear container on the left; Remove one bottle from the tray and put it in the container on the left; Put the left bottle on the tray in the clear bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_220/frame_0000.jpg", "droid-cotrack/images/episode_220/frame_0046.jpg", "droid-cotrack/images/episode_220/frame_0118.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove one bottle from the tray and put it inside the clear container on the left; Remove one bottle from the tray and put it in the container on the left; Put the left bottle on the tray in the clear bowl?" }, { "from": "gpt", "value": "To complete this repositioning: Remove one bottle from the tray and put it inside the clear container on the left; Remove one bottle from the tray and put it in the container on the left; Put the left bottle on the tray in the clear bowl, execute the following phases: 1) Initial approach phase (start at [0.828, 0.930]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.826, 0.926]). The trajectory involves 119 precise waypoints with total movement distance of 0.099." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_220", "trajectory_length": 119, "key_frame_indices": [ 0, 46, 118 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_220.json" } }, { "id": "droid_cotrack_episode_4441", "task": "Close the overhead cabinet door", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4441/frame_0000.jpg", "droid-cotrack/images/episode_4441/frame_0133.jpg", "droid-cotrack/images/episode_4441/frame_0209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the overhead cabinet door?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the overhead cabinet door, execute the following phases: 1) Initial approach phase (start at [0.608, 0.189]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.315, 0.186]). The trajectory involves 210 precise waypoints with total movement distance of 0.474." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4441", "trajectory_length": 210, "key_frame_indices": [ 0, 133, 209 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4441.json" } }, { "id": "droid_cotrack_episode_4310", "task": "Pull out one tissue square from the pink box; Take a tissue from the tissue box and put it on the table; Take a piece of tissue from the tissue box and place it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4310/frame_0000.jpg", "droid-cotrack/images/episode_4310/frame_0192.jpg", "droid-cotrack/images/episode_4310/frame_0209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pull out one tissue square from the pink box; Take a tissue from the tissue box and put it on the table; Take a piece of tissue from the tissue box and place it on the table?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Pull out one tissue square from the pink box; Take a tissue from the tissue box and put it on the table; Take a piece of tissue from the tissue box and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.679, 0.812]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.729, 0.845]). The trajectory involves 210 precise waypoints with total movement distance of 0.935." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4310", "trajectory_length": 210, "key_frame_indices": [ 0, 192, 209 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4310.json" } }, { "id": "droid_cotrack_episode_4190", "task": "Put the white extension cable inside the compartment.; Put the white object in the toolbox on the top shelf.; Put the white object in the storage box", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4190/frame_0000.jpg", "droid-cotrack/images/episode_4190/frame_0177.jpg", "droid-cotrack/images/episode_4190/frame_0193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the white extension cable inside the compartment.; Put the white object in the toolbox on the top shelf.; Put the white object in the storage box?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the white extension cable inside the compartment.; Put the white object in the toolbox on the top shelf.; Put the white object in the storage box, execute the following phases: 1) Initial approach phase (start at [0.556, 0.543]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.556, 0.542]). The trajectory involves 194 precise waypoints with total movement distance of 0.086." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4190", "trajectory_length": 194, "key_frame_indices": [ 0, 177, 193 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4190.json" } }, { "id": "droid_cotrack_episode_1076", "task": "Put the knife on the blue plate.; Put the knife on the light blue plate; Move the knife to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1076/frame_0000.jpg", "droid-cotrack/images/episode_1076/frame_0121.jpg", "droid-cotrack/images/episode_1076/frame_0217.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the knife on the blue plate.; Put the knife on the light blue plate; Move the knife to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Put the knife on the blue plate.; Put the knife on the light blue plate; Move the knife to the right, execute the following phases: 1) Initial approach phase (start at [0.950, 0.783]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.953, 0.764]). The trajectory involves 218 precise waypoints with total movement distance of 0.180." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1076", "trajectory_length": 218, "key_frame_indices": [ 0, 121, 217 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1076.json" } }, { "id": "droid_cotrack_episode_10015", "task": "Put the blue object inside the drawer.; Put the blue block in the open drawer then close the drawer.; Put the blue object in the drawer and close it", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10015/frame_0000.jpg", "droid-cotrack/images/episode_10015/frame_0078.jpg", "droid-cotrack/images/episode_10015/frame_0151.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the blue object inside the drawer.; Put the blue block in the open drawer then close the drawer.; Put the blue object in the drawer and close it?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Put the blue object inside the drawer.; Put the blue block in the open drawer then close the drawer.; Put the blue object in the drawer and close it, execute the following phases: 1) Initial approach phase (start at [0.421, 0.618]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.507, 0.685]). The trajectory involves 152 precise waypoints with total movement distance of 0.539." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10015", "trajectory_length": 152, "key_frame_indices": [ 0, 78, 151 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10015.json" } }, { "id": "droid_cotrack_episode_659", "task": "Pick up the marker and put it in the mug cup; Put the marker in the mug; Put the marker in the white cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_659/frame_0000.jpg", "droid-cotrack/images/episode_659/frame_0099.jpg", "droid-cotrack/images/episode_659/frame_0135.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the marker and put it in the mug cup; Put the marker in the mug; Put the marker in the white cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the marker and put it in the mug cup; Put the marker in the mug; Put the marker in the white cup, execute the following phases: 1) Initial approach phase (start at [0.476, 0.644]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.555, 0.529]). The trajectory involves 136 precise waypoints with total movement distance of 1.027." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_659", "trajectory_length": 136, "key_frame_indices": [ 0, 99, 135 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_659.json" } }, { "id": "droid_cotrack_episode_2201", "task": "Pour the contents of the orange cup into the transparent one; Pour the contents from the orange cup into the transparent cup on the table; Pour the contents in the orange cup into the glass cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2201/frame_0000.jpg", "droid-cotrack/images/episode_2201/frame_0171.jpg", "droid-cotrack/images/episode_2201/frame_0188.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour the contents of the orange cup into the transparent one; Pour the contents from the orange cup into the transparent cup on the table; Pour the contents in the orange cup into the glass cup?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Pour the contents of the orange cup into the transparent one; Pour the contents from the orange cup into the transparent cup on the table; Pour the contents in the orange cup into the glass cup, execute the following phases: 1) Initial approach phase (start at [0.491, 0.632]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.466, 0.450]). The trajectory involves 189 precise waypoints with total movement distance of 0.363." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2201", "trajectory_length": 189, "key_frame_indices": [ 0, 171, 188 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2201.json" } }, { "id": "droid_cotrack_episode_10235", "task": "Wipe the writing on the board with the orange duster.; Wipe the writing on the white board with the eraser.; Use the duster to clean the board", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10235/frame_0000.jpg", "droid-cotrack/images/episode_10235/frame_0379.jpg", "droid-cotrack/images/episode_10235/frame_0467.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Wipe the writing on the board with the orange duster.; Wipe the writing on the white board with the eraser.; Use the duster to clean the board?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Wipe the writing on the board with the orange duster.; Wipe the writing on the white board with the eraser.; Use the duster to clean the board, execute the following phases: 1) Initial approach phase (start at [0.236, 0.757]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.242, 0.758]). The trajectory involves 468 precise waypoints with total movement distance of 1.440." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10235", "trajectory_length": 468, "key_frame_indices": [ 0, 379, 467 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10235.json" } }, { "id": "droid_cotrack_episode_6628", "task": "Open the cupboard; Open the cupboard; Open the left cabinet door", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6628/frame_0000.jpg", "droid-cotrack/images/episode_6628/frame_0135.jpg", "droid-cotrack/images/episode_6628/frame_0224.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the cupboard; Open the cupboard; Open the left cabinet door?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the cupboard; Open the cupboard; Open the left cabinet door, execute the following phases: 1) Initial approach phase (start at [0.518, 0.353]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.526, 0.350]). The trajectory involves 225 precise waypoints with total movement distance of 0.226." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6628", "trajectory_length": 225, "key_frame_indices": [ 0, 135, 224 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6628.json" } }, { "id": "droid_cotrack_episode_4189", "task": "Pick the tin from the tray and place it in the drawer; Take the blue can from the black bowl on the window sill and put it in the open drawer; Remove the blue container from the black lunchbox on the windowsill and put it on the nightstand shelf", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4189/frame_0000.jpg", "droid-cotrack/images/episode_4189/frame_0143.jpg", "droid-cotrack/images/episode_4189/frame_0213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the tin from the tray and place it in the drawer; Take the blue can from the black bowl on the window sill and put it in the open drawer; Remove the blue container from the black lunchbox on the windowsill and put it on the nightstand shelf?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the tin from the tray and place it in the drawer; Take the blue can from the black bowl on the window sill and put it in the open drawer; Remove the blue container from the black lunchbox on the windowsill and put it on the nightstand shelf, execute the following phases: 1) Initial approach phase (start at [0.671, 0.233]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.580, 0.458]). The trajectory involves 214 precise waypoints with total movement distance of 1.435." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4189", "trajectory_length": 214, "key_frame_indices": [ 0, 143, 213 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4189.json" } }, { "id": "droid_cotrack_episode_4001", "task": "Move the green towel to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4001/frame_0000.jpg", "droid-cotrack/images/episode_4001/frame_0208.jpg", "droid-cotrack/images/episode_4001/frame_0289.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the green towel to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the green towel to the left, execute the following phases: 1) Initial approach phase (start at [0.583, 0.716]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.461, 0.637]). The trajectory involves 290 precise waypoints with total movement distance of 0.314." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4001", "trajectory_length": 290, "key_frame_indices": [ 0, 208, 289 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4001.json" } }, { "id": "droid_cotrack_episode_1154", "task": "Open the cabinet's left door", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1154/frame_0000.jpg", "droid-cotrack/images/episode_1154/frame_0293.jpg", "droid-cotrack/images/episode_1154/frame_0351.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the cabinet's left door?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the cabinet's left door, execute the following phases: 1) Initial approach phase (start at [0.382, 0.033]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.224, -0.070]). The trajectory involves 352 precise waypoints with total movement distance of 0.459." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1154", "trajectory_length": 352, "key_frame_indices": [ 0, 293, 351 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1154.json" } }, { "id": "droid_cotrack_episode_1432", "task": "Use the white napkin to wipe the top of the table.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1432/frame_0000.jpg", "droid-cotrack/images/episode_1432/frame_0121.jpg", "droid-cotrack/images/episode_1432/frame_0249.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the white napkin to wipe the top of the table.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Use the white napkin to wipe the top of the table., execute the following phases: 1) Initial approach phase (start at [0.558, 0.734]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.579, 0.730]). The trajectory involves 250 precise waypoints with total movement distance of 0.259." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1432", "trajectory_length": 250, "key_frame_indices": [ 0, 121, 249 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1432.json" } }, { "id": "droid_cotrack_episode_4534", "task": "Remove the butter knife from the black bowl in the sink and put it on the dishrack; Remove the butter knife from the black lunchbox in the sink and place it on the dishrack; Take the butter knife out of the sink and put it on the dish rack", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4534/frame_0000.jpg", "droid-cotrack/images/episode_4534/frame_0508.jpg", "droid-cotrack/images/episode_4534/frame_0562.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the butter knife from the black bowl in the sink and put it on the dishrack; Remove the butter knife from the black lunchbox in the sink and place it on the dishrack; Take the butter knife out of the sink and put it on the dish rack?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the butter knife from the black bowl in the sink and put it on the dishrack; Remove the butter knife from the black lunchbox in the sink and place it on the dishrack; Take the butter knife out of the sink and put it on the dish rack, execute the following phases: 1) Initial approach phase (start at [0.457, 0.323]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.398, 0.371]). The trajectory involves 563 precise waypoints with total movement distance of 1.221." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4534", "trajectory_length": 563, "key_frame_indices": [ 0, 508, 562 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4534.json" } }, { "id": "droid_cotrack_episode_402", "task": "Pick up the black lid from the table and put it on the grey food storage container.; Put the lid on the pot; Pick up the lid from the table and put it on the pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_402/frame_0000.jpg", "droid-cotrack/images/episode_402/frame_0134.jpg", "droid-cotrack/images/episode_402/frame_0264.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the black lid from the table and put it on the grey food storage container.; Put the lid on the pot; Pick up the lid from the table and put it on the pot?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the black lid from the table and put it on the grey food storage container.; Put the lid on the pot; Pick up the lid from the table and put it on the pot, execute the following phases: 1) Initial approach phase (start at [0.721, 0.732]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.736, 0.565]). The trajectory involves 265 precise waypoints with total movement distance of 0.531." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_402", "trajectory_length": 265, "key_frame_indices": [ 0, 134, 264 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_402.json" } }, { "id": "droid_cotrack_episode_1046", "task": "Put the pot on the right side of the table and open it; Pick the lid on top of the pot and place it on the table; Slightly move the pot to the right of the table and then put the lid on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1046/frame_0000.jpg", "droid-cotrack/images/episode_1046/frame_0058.jpg", "droid-cotrack/images/episode_1046/frame_0272.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pot on the right side of the table and open it; Pick the lid on top of the pot and place it on the table; Slightly move the pot to the right of the table and then put the lid on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the pot on the right side of the table and open it; Pick the lid on top of the pot and place it on the table; Slightly move the pot to the right of the table and then put the lid on the table, execute the following phases: 1) Initial approach phase (start at [0.535, 0.704]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.536, 0.706]). The trajectory involves 273 precise waypoints with total movement distance of 0.130." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1046", "trajectory_length": 273, "key_frame_indices": [ 0, 58, 272 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1046.json" } }, { "id": "droid_cotrack_episode_10070", "task": "Put the purple plushie on the white plate; Put the purple plush toy inside the white bowl.; Put the purple plushy on the white plate", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10070/frame_0000.jpg", "droid-cotrack/images/episode_10070/frame_0080.jpg", "droid-cotrack/images/episode_10070/frame_0145.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the purple plushie on the white plate; Put the purple plush toy inside the white bowl.; Put the purple plushy on the white plate?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the purple plushie on the white plate; Put the purple plush toy inside the white bowl.; Put the purple plushy on the white plate, execute the following phases: 1) Initial approach phase (start at [0.487, 0.650]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.532, 0.519]). The trajectory involves 146 precise waypoints with total movement distance of 0.330." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10070", "trajectory_length": 146, "key_frame_indices": [ 0, 80, 145 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10070.json" } }, { "id": "droid_cotrack_episode_1230", "task": "Open the lid of the shape sorter", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1230/frame_0000.jpg", "droid-cotrack/images/episode_1230/frame_0101.jpg", "droid-cotrack/images/episode_1230/frame_0132.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the lid of the shape sorter?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the lid of the shape sorter, execute the following phases: 1) Initial approach phase (start at [0.442, 0.465]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.449, 0.469]). The trajectory involves 133 precise waypoints with total movement distance of 0.034." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1230", "trajectory_length": 133, "key_frame_indices": [ 0, 101, 132 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1230.json" } }, { "id": "droid_cotrack_episode_1360", "task": "Put the object on the head rest of the orange chair; Put the blanket on the backrest of the chair; Put the fleece over the head rest", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1360/frame_0000.jpg", "droid-cotrack/images/episode_1360/frame_0145.jpg", "droid-cotrack/images/episode_1360/frame_0215.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the object on the head rest of the orange chair; Put the blanket on the backrest of the chair; Put the fleece over the head rest?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the object on the head rest of the orange chair; Put the blanket on the backrest of the chair; Put the fleece over the head rest, execute the following phases: 1) Initial approach phase (start at [0.457, 0.733]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.116, 0.465]). The trajectory involves 216 precise waypoints with total movement distance of 1.811." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1360", "trajectory_length": 216, "key_frame_indices": [ 0, 145, 215 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1360.json" } }, { "id": "droid_cotrack_episode_1443", "task": "Put the block in the bowl; Put the green block in the bowl; Pick up the green block and place it in the black bowl.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1443/frame_0000.jpg", "droid-cotrack/images/episode_1443/frame_0026.jpg", "droid-cotrack/images/episode_1443/frame_0225.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the block in the bowl; Put the green block in the bowl; Pick up the green block and place it in the black bowl.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the block in the bowl; Put the green block in the bowl; Pick up the green block and place it in the black bowl., execute the following phases: 1) Initial approach phase (start at [0.676, 0.224]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.509, 0.427]). The trajectory involves 226 precise waypoints with total movement distance of 0.760." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1443", "trajectory_length": 226, "key_frame_indices": [ 0, 26, 225 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1443.json" } }, { "id": "droid_cotrack_episode_10228", "task": "Place the lid on the gray dish; Put the black lid on the grey pot; Pick the lid on the table and put it on the grey pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10228/frame_0000.jpg", "droid-cotrack/images/episode_10228/frame_0221.jpg", "droid-cotrack/images/episode_10228/frame_0277.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the lid on the gray dish; Put the black lid on the grey pot; Pick the lid on the table and put it on the grey pot?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Place the lid on the gray dish; Put the black lid on the grey pot; Pick the lid on the table and put it on the grey pot, execute the following phases: 1) Initial approach phase (start at [0.586, 0.455]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.573, 0.402]). The trajectory involves 278 precise waypoints with total movement distance of 0.530." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10228", "trajectory_length": 278, "key_frame_indices": [ 0, 221, 277 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10228.json" } }, { "id": "droid_cotrack_episode_2158", "task": "Pick up the cloth with green and white dots from the box and put it on the chair's headrest; Put the olive green and grey clothing on the backrest of the chair.; Place the green with white polka dots cloth and grey cloth onto the chair", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2158/frame_0000.jpg", "droid-cotrack/images/episode_2158/frame_0137.jpg", "droid-cotrack/images/episode_2158/frame_0207.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the cloth with green and white dots from the box and put it on the chair's headrest; Put the olive green and grey clothing on the backrest of the chair.; Place the green with white polka dots cloth and grey cloth onto the chair?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the cloth with green and white dots from the box and put it on the chair's headrest; Put the olive green and grey clothing on the backrest of the chair.; Place the green with white polka dots cloth and grey cloth onto the chair, execute the following phases: 1) Initial approach phase (start at [0.535, 0.551]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.538, 0.549]). The trajectory involves 208 precise waypoints with total movement distance of 0.103." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2158", "trajectory_length": 208, "key_frame_indices": [ 0, 137, 207 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2158.json" } }, { "id": "droid_cotrack_episode_1209", "task": "Pick up the yellow block at the front of the table and put it on the wooden board; Put the yellow square block in the second right position on the right wooden board; Put the yellow block on the third empty slot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1209/frame_0000.jpg", "droid-cotrack/images/episode_1209/frame_0054.jpg", "droid-cotrack/images/episode_1209/frame_0225.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the yellow block at the front of the table and put it on the wooden board; Put the yellow square block in the second right position on the right wooden board; Put the yellow block on the third empty slot?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the yellow block at the front of the table and put it on the wooden board; Put the yellow square block in the second right position on the right wooden board; Put the yellow block on the third empty slot, execute the following phases: 1) Initial approach phase (start at [0.579, 0.799]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.579, 0.798]). The trajectory involves 226 precise waypoints with total movement distance of 0.076." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1209", "trajectory_length": 226, "key_frame_indices": [ 0, 54, 225 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1209.json" } }, { "id": "droid_cotrack_episode_1594", "task": "Remove the marker from the pot and put it on the table; Remove the marker from the silver pot; Pick up the marker pen from the pot and put it on the table.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1594/frame_0000.jpg", "droid-cotrack/images/episode_1594/frame_0182.jpg", "droid-cotrack/images/episode_1594/frame_0240.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker from the pot and put it on the table; Remove the marker from the silver pot; Pick up the marker pen from the pot and put it on the table.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Remove the marker from the pot and put it on the table; Remove the marker from the silver pot; Pick up the marker pen from the pot and put it on the table., execute the following phases: 1) Initial approach phase (start at [0.605, 0.645]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.607, 0.645]). The trajectory involves 241 precise waypoints with total movement distance of 0.186." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1594", "trajectory_length": 241, "key_frame_indices": [ 0, 182, 240 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1594.json" } }, { "id": "droid_cotrack_episode_180", "task": "Take the white cup from the black bin and put it on the table; Remove the white cup out of the black bin; Remove the white cup from the black trash bin on the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_180/frame_0000.jpg", "droid-cotrack/images/episode_180/frame_0195.jpg", "droid-cotrack/images/episode_180/frame_0216.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the white cup from the black bin and put it on the table; Remove the white cup out of the black bin; Remove the white cup from the black trash bin on the left?" }, { "from": "gpt", "value": "To complete this repositioning: Take the white cup from the black bin and put it on the table; Remove the white cup out of the black bin; Remove the white cup from the black trash bin on the left, execute the following phases: 1) Initial approach phase (start at [0.452, 0.398]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.482, 0.314]). The trajectory involves 217 precise waypoints with total movement distance of 0.353." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_180", "trajectory_length": 217, "key_frame_indices": [ 0, 195, 216 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_180.json" } }, { "id": "droid_cotrack_episode_1568", "task": "Put the pen in the bowl; Put the pen in the bowl; Put the pen inside the light blue bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1568/frame_0000.jpg", "droid-cotrack/images/episode_1568/frame_0130.jpg", "droid-cotrack/images/episode_1568/frame_0146.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pen in the bowl; Put the pen in the bowl; Put the pen inside the light blue bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the pen in the bowl; Put the pen in the bowl; Put the pen inside the light blue bowl, execute the following phases: 1) Initial approach phase (start at [0.452, 0.430]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.448, 0.439]). The trajectory involves 147 precise waypoints with total movement distance of 0.129." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1568", "trajectory_length": 147, "key_frame_indices": [ 0, 130, 146 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1568.json" } }, { "id": "droid_cotrack_episode_6263", "task": "Place the marker on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6263/frame_0000.jpg", "droid-cotrack/images/episode_6263/frame_0155.jpg", "droid-cotrack/images/episode_6263/frame_0212.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the marker on the table?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Place the marker on the table, execute the following phases: 1) Initial approach phase (start at [0.474, 0.866]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.474, 0.868]). The trajectory involves 213 precise waypoints with total movement distance of 0.095." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6263", "trajectory_length": 213, "key_frame_indices": [ 0, 155, 212 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6263.json" } }, { "id": "droid_cotrack_episode_10072", "task": "Open the oven door.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10072/frame_0000.jpg", "droid-cotrack/images/episode_10072/frame_0062.jpg", "droid-cotrack/images/episode_10072/frame_0146.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the oven door.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the oven door., execute the following phases: 1) Initial approach phase (start at [0.578, 0.840]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.598, 0.847]). The trajectory involves 147 precise waypoints with total movement distance of 0.152." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10072", "trajectory_length": 147, "key_frame_indices": [ 0, 62, 146 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10072.json" } }, { "id": "droid_cotrack_episode_1456", "task": "Put the pen in the bowl; Put the marker in the bowl; Put the marker inside the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1456/frame_0000.jpg", "droid-cotrack/images/episode_1456/frame_0174.jpg", "droid-cotrack/images/episode_1456/frame_0197.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pen in the bowl; Put the marker in the bowl; Put the marker inside the bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the pen in the bowl; Put the marker in the bowl; Put the marker inside the bowl, execute the following phases: 1) Initial approach phase (start at [0.372, 0.401]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.501, 0.679]). The trajectory involves 198 precise waypoints with total movement distance of 0.462." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1456", "trajectory_length": 198, "key_frame_indices": [ 0, 174, 197 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1456.json" } }, { "id": "droid_cotrack_episode_4007", "task": "Open the cabinet door; Open the leftmost cabinet; Open the far left door on the top cabinet", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4007/frame_0000.jpg", "droid-cotrack/images/episode_4007/frame_0175.jpg", "droid-cotrack/images/episode_4007/frame_0184.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the cabinet door; Open the leftmost cabinet; Open the far left door on the top cabinet?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the cabinet door; Open the leftmost cabinet; Open the far left door on the top cabinet, execute the following phases: 1) Initial approach phase (start at [0.524, 0.490]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.537, 0.483]). The trajectory involves 185 precise waypoints with total movement distance of 0.144." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4007", "trajectory_length": 185, "key_frame_indices": [ 0, 175, 184 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4007.json" } }, { "id": "droid_cotrack_episode_1466", "task": "Put the chocolate bar on the shelf", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1466/frame_0000.jpg", "droid-cotrack/images/episode_1466/frame_0130.jpg", "droid-cotrack/images/episode_1466/frame_0218.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the chocolate bar on the shelf?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the chocolate bar on the shelf, execute the following phases: 1) Initial approach phase (start at [0.290, 0.838]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.318, 0.457]). The trajectory involves 219 precise waypoints with total movement distance of 0.896." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1466", "trajectory_length": 219, "key_frame_indices": [ 0, 130, 218 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1466.json" } }, { "id": "droid_cotrack_episode_452", "task": "Move the water bottle to the left.; Move the blue bottle to the left of the grip pliers; Move the blue bottle", "selected_step": 1, "image": [ "droid-cotrack/images/episode_452/frame_0000.jpg", "droid-cotrack/images/episode_452/frame_0233.jpg", "droid-cotrack/images/episode_452/frame_0304.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the water bottle to the left.; Move the blue bottle to the left of the grip pliers; Move the blue bottle?" }, { "from": "gpt", "value": "To complete this repositioning: Move the water bottle to the left.; Move the blue bottle to the left of the grip pliers; Move the blue bottle, execute the following phases: 1) Initial approach phase (start at [0.751, 0.449]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.570, 0.494]). The trajectory involves 305 precise waypoints with total movement distance of 0.458." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_452", "trajectory_length": 305, "key_frame_indices": [ 0, 233, 304 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_452.json" } }, { "id": "droid_cotrack_episode_1988", "task": "Put the white lid on the blue bottle", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1988/frame_0000.jpg", "droid-cotrack/images/episode_1988/frame_0171.jpg", "droid-cotrack/images/episode_1988/frame_0184.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the white lid on the blue bottle?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the white lid on the blue bottle, execute the following phases: 1) Initial approach phase (start at [0.653, 0.478]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.650, 0.477]). The trajectory involves 185 precise waypoints with total movement distance of 0.052." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1988", "trajectory_length": 185, "key_frame_indices": [ 0, 171, 184 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1988.json" } }, { "id": "droid_cotrack_episode_2013", "task": "Pick the small red bowl from the top shelf and place it on top of the cabinet", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2013/frame_0000.jpg", "droid-cotrack/images/episode_2013/frame_0186.jpg", "droid-cotrack/images/episode_2013/frame_0278.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the small red bowl from the top shelf and place it on top of the cabinet?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the small red bowl from the top shelf and place it on top of the cabinet, execute the following phases: 1) Initial approach phase (start at [0.474, 0.588]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.482, 0.310]). The trajectory involves 279 precise waypoints with total movement distance of 0.909." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2013", "trajectory_length": 279, "key_frame_indices": [ 0, 186, 278 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2013.json" } }, { "id": "droid_cotrack_episode_1521", "task": "Pick up the marker and place it in the cup; Put the marker inside the blue bowl; Put the marker in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1521/frame_0000.jpg", "droid-cotrack/images/episode_1521/frame_0159.jpg", "droid-cotrack/images/episode_1521/frame_0191.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the marker and place it in the cup; Put the marker inside the blue bowl; Put the marker in the bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the marker and place it in the cup; Put the marker inside the blue bowl; Put the marker in the bowl, execute the following phases: 1) Initial approach phase (start at [0.562, 0.612]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.565, 0.606]). The trajectory involves 192 precise waypoints with total movement distance of 0.114." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1521", "trajectory_length": 192, "key_frame_indices": [ 0, 159, 191 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1521.json" } }, { "id": "droid_cotrack_episode_1830", "task": "Push the ball to the right; Push the orange basketball to the right.; Move the ball", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1830/frame_0000.jpg", "droid-cotrack/images/episode_1830/frame_0114.jpg", "droid-cotrack/images/episode_1830/frame_0174.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the ball to the right; Push the orange basketball to the right.; Move the ball?" }, { "from": "gpt", "value": "To complete this repositioning: Push the ball to the right; Push the orange basketball to the right.; Move the ball, execute the following phases: 1) Initial approach phase (start at [0.452, 0.764]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.587, 0.590]). The trajectory involves 175 precise waypoints with total movement distance of 0.755." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1830", "trajectory_length": 175, "key_frame_indices": [ 0, 114, 174 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1830.json" } }, { "id": "droid_cotrack_episode_1520", "task": "Move the mug to the table on the left; Move the mug to the table on the left; Move the mug to the table on the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1520/frame_0000.jpg", "droid-cotrack/images/episode_1520/frame_0022.jpg", "droid-cotrack/images/episode_1520/frame_0109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug to the table on the left; Move the mug to the table on the left; Move the mug to the table on the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug to the table on the left; Move the mug to the table on the left; Move the mug to the table on the left, execute the following phases: 1) Initial approach phase (start at [0.652, 0.739]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.648, 0.732]). The trajectory involves 110 precise waypoints with total movement distance of 0.065." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1520", "trajectory_length": 110, "key_frame_indices": [ 0, 22, 109 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1520.json" } }, { "id": "droid_cotrack_episode_1238", "task": "Remove the lid from the pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1238/frame_0000.jpg", "droid-cotrack/images/episode_1238/frame_0147.jpg", "droid-cotrack/images/episode_1238/frame_0163.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the lid from the pot?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the lid from the pot, execute the following phases: 1) Initial approach phase (start at [0.543, 0.376]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.362, 0.441]). The trajectory involves 164 precise waypoints with total movement distance of 0.452." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1238", "trajectory_length": 164, "key_frame_indices": [ 0, 147, 163 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1238.json" } }, { "id": "droid_cotrack_episode_4356", "task": "Put the marker in the mug; Put the marker inside the mug; Pick up the marker and put it in the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4356/frame_0000.jpg", "droid-cotrack/images/episode_4356/frame_0211.jpg", "droid-cotrack/images/episode_4356/frame_0244.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the mug; Put the marker inside the mug; Pick up the marker and put it in the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the marker in the mug; Put the marker inside the mug; Pick up the marker and put it in the cup, execute the following phases: 1) Initial approach phase (start at [0.595, 0.574]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.547, 0.642]). The trajectory involves 245 precise waypoints with total movement distance of 1.063." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4356", "trajectory_length": 245, "key_frame_indices": [ 0, 211, 244 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4356.json" } }, { "id": "droid_cotrack_episode_1669", "task": "Pick up the orange toy from the table and put it in the silver pot; Put the duck in the pot; Put the orange rubber duck inside the silver pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1669/frame_0000.jpg", "droid-cotrack/images/episode_1669/frame_0092.jpg", "droid-cotrack/images/episode_1669/frame_0111.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the orange toy from the table and put it in the silver pot; Put the duck in the pot; Put the orange rubber duck inside the silver pot?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the orange toy from the table and put it in the silver pot; Put the duck in the pot; Put the orange rubber duck inside the silver pot, execute the following phases: 1) Initial approach phase (start at [0.427, 0.434]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.415, 0.406]). The trajectory involves 112 precise waypoints with total movement distance of 0.350." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1669", "trajectory_length": 112, "key_frame_indices": [ 0, 92, 111 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1669.json" } }, { "id": "droid_cotrack_episode_4550", "task": "Pick up the cup and put it in the sink; Put the blue cup in the sink; Put the dark blue thermos inside the sink.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4550/frame_0000.jpg", "droid-cotrack/images/episode_4550/frame_0048.jpg", "droid-cotrack/images/episode_4550/frame_0312.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the cup and put it in the sink; Put the blue cup in the sink; Put the dark blue thermos inside the sink.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the cup and put it in the sink; Put the blue cup in the sink; Put the dark blue thermos inside the sink., execute the following phases: 1) Initial approach phase (start at [0.616, 0.412]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.507, 0.662]). The trajectory involves 313 precise waypoints with total movement distance of 0.845." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4550", "trajectory_length": 313, "key_frame_indices": [ 0, 48, 312 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4550.json" } }, { "id": "droid_cotrack_episode_1622", "task": "Place the yellow block inside the blue cup; Put the yellow cube inside the blue cup; Put the yellow block inside the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1622/frame_0000.jpg", "droid-cotrack/images/episode_1622/frame_0059.jpg", "droid-cotrack/images/episode_1622/frame_0090.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the yellow block inside the blue cup; Put the yellow cube inside the blue cup; Put the yellow block inside the cup?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Place the yellow block inside the blue cup; Put the yellow cube inside the blue cup; Put the yellow block inside the cup, execute the following phases: 1) Initial approach phase (start at [0.540, 0.605]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.635, 0.469]). The trajectory involves 91 precise waypoints with total movement distance of 0.370." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1622", "trajectory_length": 91, "key_frame_indices": [ 0, 59, 90 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1622.json" } }, { "id": "droid_cotrack_episode_10246", "task": "Close the open drawer; Close the bottom drawer of the filing cabinet on the left; Close the bottom drawer of the left cabinet", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10246/frame_0000.jpg", "droid-cotrack/images/episode_10246/frame_0093.jpg", "droid-cotrack/images/episode_10246/frame_0105.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the open drawer; Close the bottom drawer of the filing cabinet on the left; Close the bottom drawer of the left cabinet?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the open drawer; Close the bottom drawer of the filing cabinet on the left; Close the bottom drawer of the left cabinet, execute the following phases: 1) Initial approach phase (start at [0.517, 0.979]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.403, 0.920]). The trajectory involves 106 precise waypoints with total movement distance of 0.213." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10246", "trajectory_length": 106, "key_frame_indices": [ 0, 93, 105 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10246.json" } }, { "id": "droid_cotrack_episode_878", "task": "Open the drawer", "selected_step": 1, "image": [ "droid-cotrack/images/episode_878/frame_0000.jpg", "droid-cotrack/images/episode_878/frame_0036.jpg", "droid-cotrack/images/episode_878/frame_0237.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the drawer, execute the following phases: 1) Initial approach phase (start at [0.674, 0.839]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.676, 0.840]). The trajectory involves 238 precise waypoints with total movement distance of 0.147." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_878", "trajectory_length": 238, "key_frame_indices": [ 0, 36, 237 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_878.json" } }, { "id": "droid_cotrack_episode_4225", "task": "Slide the grey towel slightly to the left.; Move the grey towel to the left.; Move the cloth to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4225/frame_0000.jpg", "droid-cotrack/images/episode_4225/frame_0104.jpg", "droid-cotrack/images/episode_4225/frame_0127.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the grey towel slightly to the left.; Move the grey towel to the left.; Move the cloth to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the grey towel slightly to the left.; Move the grey towel to the left.; Move the cloth to the left, execute the following phases: 1) Initial approach phase (start at [0.621, 0.509]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.559, 0.398]). The trajectory involves 128 precise waypoints with total movement distance of 0.176." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4225", "trajectory_length": 128, "key_frame_indices": [ 0, 104, 127 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4225.json" } }, { "id": "droid_cotrack_episode_1807", "task": "Close the door; Close the door; Close the door", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1807/frame_0000.jpg", "droid-cotrack/images/episode_1807/frame_0169.jpg", "droid-cotrack/images/episode_1807/frame_0278.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the door; Close the door; Close the door?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the door; Close the door; Close the door, execute the following phases: 1) Initial approach phase (start at [0.840, 0.692]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.812, 0.845]). The trajectory involves 279 precise waypoints with total movement distance of 0.373." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1807", "trajectory_length": 279, "key_frame_indices": [ 0, 169, 278 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1807.json" } }, { "id": "droid_cotrack_episode_177", "task": "Take the pen out of the bowl and put it on the table; Remove the marker from the bowl.; Put the marker on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_177/frame_0000.jpg", "droid-cotrack/images/episode_177/frame_0109.jpg", "droid-cotrack/images/episode_177/frame_0191.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the pen out of the bowl and put it on the table; Remove the marker from the bowl.; Put the marker on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Take the pen out of the bowl and put it on the table; Remove the marker from the bowl.; Put the marker on the table, execute the following phases: 1) Initial approach phase (start at [0.428, 0.264]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.447, 0.262]). The trajectory involves 192 precise waypoints with total movement distance of 0.329." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_177", "trajectory_length": 192, "key_frame_indices": [ 0, 109, 191 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_177.json" } }, { "id": "droid_cotrack_episode_6690", "task": "Put the red marker inside the white bowl; Get the marker from the table and put it in the white bowl; Put the marker inside the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6690/frame_0000.jpg", "droid-cotrack/images/episode_6690/frame_0136.jpg", "droid-cotrack/images/episode_6690/frame_0152.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the red marker inside the white bowl; Get the marker from the table and put it in the white bowl; Put the marker inside the bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the red marker inside the white bowl; Get the marker from the table and put it in the white bowl; Put the marker inside the bowl, execute the following phases: 1) Initial approach phase (start at [0.440, 0.455]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.489, 0.671]). The trajectory involves 153 precise waypoints with total movement distance of 0.506." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6690", "trajectory_length": 153, "key_frame_indices": [ 0, 136, 152 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6690.json" } }, { "id": "droid_cotrack_episode_6544", "task": "Push the grey pot backwards; Move the gray bowl forward; Move the pot away from you", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6544/frame_0000.jpg", "droid-cotrack/images/episode_6544/frame_0073.jpg", "droid-cotrack/images/episode_6544/frame_0111.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the grey pot backwards; Move the gray bowl forward; Move the pot away from you?" }, { "from": "gpt", "value": "To complete this repositioning: Push the grey pot backwards; Move the gray bowl forward; Move the pot away from you, execute the following phases: 1) Initial approach phase (start at [0.700, 0.803]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.602, 0.668]). The trajectory involves 112 precise waypoints with total movement distance of 0.264." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6544", "trajectory_length": 112, "key_frame_indices": [ 0, 73, 111 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6544.json" } }, { "id": "droid_cotrack_episode_2242", "task": "Pick up the spatula and put it on the grey item", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2242/frame_0000.jpg", "droid-cotrack/images/episode_2242/frame_0295.jpg", "droid-cotrack/images/episode_2242/frame_0464.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the spatula and put it on the grey item?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the spatula and put it on the grey item, execute the following phases: 1) Initial approach phase (start at [0.462, 0.643]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.437, 0.485]). The trajectory involves 465 precise waypoints with total movement distance of 1.025." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2242", "trajectory_length": 465, "key_frame_indices": [ 0, 295, 464 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2242.json" } }, { "id": "droid_cotrack_episode_998", "task": "Unfold the yellow towel once from right to left; Unfold the cloth on the table; unfold the towel", "selected_step": 1, "image": [ "droid-cotrack/images/episode_998/frame_0000.jpg", "droid-cotrack/images/episode_998/frame_0214.jpg", "droid-cotrack/images/episode_998/frame_0340.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the yellow towel once from right to left; Unfold the cloth on the table; unfold the towel?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Unfold the yellow towel once from right to left; Unfold the cloth on the table; unfold the towel, execute the following phases: 1) Initial approach phase (start at [0.776, 0.546]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.777, 0.597]). The trajectory involves 341 precise waypoints with total movement distance of 0.337." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_998", "trajectory_length": 341, "key_frame_indices": [ 0, 214, 340 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_998.json" } }, { "id": "droid_cotrack_episode_392", "task": "Move the yellow plate backwards; Move the yellow plate forward slightly to the left; Move the yellow plate", "selected_step": 1, "image": [ "droid-cotrack/images/episode_392/frame_0000.jpg", "droid-cotrack/images/episode_392/frame_0137.jpg", "droid-cotrack/images/episode_392/frame_0218.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the yellow plate backwards; Move the yellow plate forward slightly to the left; Move the yellow plate?" }, { "from": "gpt", "value": "To complete this repositioning: Move the yellow plate backwards; Move the yellow plate forward slightly to the left; Move the yellow plate, execute the following phases: 1) Initial approach phase (start at [0.824, 0.837]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.719, 0.501]). The trajectory involves 219 precise waypoints with total movement distance of 0.737." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_392", "trajectory_length": 219, "key_frame_indices": [ 0, 137, 218 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_392.json" } }, { "id": "droid_cotrack_episode_10304", "task": "Put the marker on the desk; Remove the marker from the silver pot.; Put the marker on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10304/frame_0000.jpg", "droid-cotrack/images/episode_10304/frame_0120.jpg", "droid-cotrack/images/episode_10304/frame_0137.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker on the desk; Remove the marker from the silver pot.; Put the marker on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Put the marker on the desk; Remove the marker from the silver pot.; Put the marker on the table, execute the following phases: 1) Initial approach phase (start at [0.513, 0.460]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.512, 0.462]). The trajectory involves 138 precise waypoints with total movement distance of 0.044." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10304", "trajectory_length": 138, "key_frame_indices": [ 0, 120, 137 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10304.json" } }, { "id": "droid_cotrack_episode_10074", "task": "Put the glue stick in the mug cup; Pick up the green small bottle with a yellow lid and put it in the cup; Put the glue stick in the mug", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10074/frame_0000.jpg", "droid-cotrack/images/episode_10074/frame_0133.jpg", "droid-cotrack/images/episode_10074/frame_0178.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the glue stick in the mug cup; Pick up the green small bottle with a yellow lid and put it in the cup; Put the glue stick in the mug?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the glue stick in the mug cup; Pick up the green small bottle with a yellow lid and put it in the cup; Put the glue stick in the mug, execute the following phases: 1) Initial approach phase (start at [0.592, 0.342]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.600, 0.354]). The trajectory involves 179 precise waypoints with total movement distance of 0.344." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10074", "trajectory_length": 179, "key_frame_indices": [ 0, 133, 178 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10074.json" } }, { "id": "droid_cotrack_episode_450", "task": "Open the drawer of the cabinet on the table; Open the drawer; Open the drawer", "selected_step": 1, "image": [ "droid-cotrack/images/episode_450/frame_0000.jpg", "droid-cotrack/images/episode_450/frame_0205.jpg", "droid-cotrack/images/episode_450/frame_0208.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the drawer of the cabinet on the table; Open the drawer; Open the drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the drawer of the cabinet on the table; Open the drawer; Open the drawer, execute the following phases: 1) Initial approach phase (start at [0.459, 0.412]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.449, 0.431]). The trajectory involves 209 precise waypoints with total movement distance of 0.072." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_450", "trajectory_length": 209, "key_frame_indices": [ 0, 205, 208 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_450.json" } }, { "id": "droid_cotrack_episode_4528", "task": "Push down the toaster lever; Turn on the toaster; Turn on the toaster", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4528/frame_0000.jpg", "droid-cotrack/images/episode_4528/frame_0136.jpg", "droid-cotrack/images/episode_4528/frame_0176.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push down the toaster lever; Turn on the toaster; Turn on the toaster?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push down the toaster lever; Turn on the toaster; Turn on the toaster, execute the following phases: 1) Initial approach phase (start at [0.660, 0.579]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.659, 0.578]). The trajectory involves 177 precise waypoints with total movement distance of 0.074." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4528", "trajectory_length": 177, "key_frame_indices": [ 0, 136, 176 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4528.json" } }, { "id": "droid_cotrack_episode_6256", "task": "Put the slippers on the cabinet", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6256/frame_0000.jpg", "droid-cotrack/images/episode_6256/frame_0106.jpg", "droid-cotrack/images/episode_6256/frame_0193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the slippers on the cabinet?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the slippers on the cabinet, execute the following phases: 1) Initial approach phase (start at [0.243, 0.479]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.354, 0.545]). The trajectory involves 194 precise waypoints with total movement distance of 1.469." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6256", "trajectory_length": 194, "key_frame_indices": [ 0, 106, 193 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6256.json" } }, { "id": "droid_cotrack_episode_10154", "task": "Put the towel on top of the wooden board; Hang the cloth on the brown object; Hang the cloth on the wooden stand", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10154/frame_0000.jpg", "droid-cotrack/images/episode_10154/frame_0062.jpg", "droid-cotrack/images/episode_10154/frame_0147.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the towel on top of the wooden board; Hang the cloth on the brown object; Hang the cloth on the wooden stand?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the towel on top of the wooden board; Hang the cloth on the brown object; Hang the cloth on the wooden stand, execute the following phases: 1) Initial approach phase (start at [0.383, 0.885]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.639, 0.573]). The trajectory involves 148 precise waypoints with total movement distance of 1.547." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10154", "trajectory_length": 148, "key_frame_indices": [ 0, 62, 147 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10154.json" } }, { "id": "droid_cotrack_episode_6304", "task": "Open the bottom drawer of the file cabinet on the right; Open the bottom drawer of the file cabinet on the right; Open the bottom drawer of the file cabinet on the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6304/frame_0000.jpg", "droid-cotrack/images/episode_6304/frame_0150.jpg", "droid-cotrack/images/episode_6304/frame_0177.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the bottom drawer of the file cabinet on the right; Open the bottom drawer of the file cabinet on the right; Open the bottom drawer of the file cabinet on the right?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the bottom drawer of the file cabinet on the right; Open the bottom drawer of the file cabinet on the right; Open the bottom drawer of the file cabinet on the right, execute the following phases: 1) Initial approach phase (start at [0.569, 0.770]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.566, 0.858]). The trajectory involves 178 precise waypoints with total movement distance of 0.233." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6304", "trajectory_length": 178, "key_frame_indices": [ 0, 150, 177 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6304.json" } }, { "id": "droid_cotrack_episode_4360", "task": "Place the lid on the table; Pick up the lid from the bowl and place it on the table; Put the orange lid on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4360/frame_0000.jpg", "droid-cotrack/images/episode_4360/frame_0173.jpg", "droid-cotrack/images/episode_4360/frame_0190.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the lid on the table; Pick up the lid from the bowl and place it on the table; Put the orange lid on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Place the lid on the table; Pick up the lid from the bowl and place it on the table; Put the orange lid on the table, execute the following phases: 1) Initial approach phase (start at [0.609, 0.339]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.696, 0.274]). The trajectory involves 191 precise waypoints with total movement distance of 0.598." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4360", "trajectory_length": 191, "key_frame_indices": [ 0, 173, 190 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4360.json" } }, { "id": "droid_cotrack_episode_469", "task": "Move the yellow mug to the right; Move the mug slightly to the right; Move the green mug to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_469/frame_0000.jpg", "droid-cotrack/images/episode_469/frame_0102.jpg", "droid-cotrack/images/episode_469/frame_0142.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the yellow mug to the right; Move the mug slightly to the right; Move the green mug to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the yellow mug to the right; Move the mug slightly to the right; Move the green mug to the right, execute the following phases: 1) Initial approach phase (start at [0.555, 0.460]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.578, 0.370]). The trajectory involves 143 precise waypoints with total movement distance of 0.171." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_469", "trajectory_length": 143, "key_frame_indices": [ 0, 102, 142 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_469.json" } }, { "id": "droid_cotrack_episode_4532", "task": "Push down the right toaster lever; Push the right toaster lever down; Push the right lever on the toaster down", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4532/frame_0000.jpg", "droid-cotrack/images/episode_4532/frame_0155.jpg", "droid-cotrack/images/episode_4532/frame_0192.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push down the right toaster lever; Push the right toaster lever down; Push the right lever on the toaster down?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push down the right toaster lever; Push the right toaster lever down; Push the right lever on the toaster down, execute the following phases: 1) Initial approach phase (start at [0.661, 0.453]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.661, 0.453]). The trajectory involves 193 precise waypoints with total movement distance of 0.055." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4532", "trajectory_length": 193, "key_frame_indices": [ 0, 155, 192 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4532.json" } }, { "id": "droid_cotrack_episode_6152", "task": "Turn off the lamp; Turn off the lamp; Switch off the table lamp", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6152/frame_0000.jpg", "droid-cotrack/images/episode_6152/frame_0049.jpg", "droid-cotrack/images/episode_6152/frame_0325.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn off the lamp; Turn off the lamp; Switch off the table lamp?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Turn off the lamp; Turn off the lamp; Switch off the table lamp, execute the following phases: 1) Initial approach phase (start at [0.487, 0.612]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.492, 0.619]). The trajectory involves 326 precise waypoints with total movement distance of 0.142." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6152", "trajectory_length": 326, "key_frame_indices": [ 0, 49, 325 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6152.json" } }, { "id": "droid_cotrack_episode_967", "task": "Get the marker from the table and place it in the silver pot; Put the marker in the pot; Put the marker in the pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_967/frame_0000.jpg", "droid-cotrack/images/episode_967/frame_0135.jpg", "droid-cotrack/images/episode_967/frame_0153.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Get the marker from the table and place it in the silver pot; Put the marker in the pot; Put the marker in the pot?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Get the marker from the table and place it in the silver pot; Put the marker in the pot; Put the marker in the pot, execute the following phases: 1) Initial approach phase (start at [0.457, 0.440]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.458, 0.440]). The trajectory involves 154 precise waypoints with total movement distance of 0.069." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_967", "trajectory_length": 154, "key_frame_indices": [ 0, 135, 153 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_967.json" } }, { "id": "droid_cotrack_episode_4053", "task": "Pick up the yellow object from the table and put it in the box", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4053/frame_0000.jpg", "droid-cotrack/images/episode_4053/frame_0076.jpg", "droid-cotrack/images/episode_4053/frame_0167.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the yellow object from the table and put it in the box?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the yellow object from the table and put it in the box, execute the following phases: 1) Initial approach phase (start at [0.357, 0.526]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.423, 0.551]). The trajectory involves 168 precise waypoints with total movement distance of 0.302." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4053", "trajectory_length": 168, "key_frame_indices": [ 0, 76, 167 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4053.json" } }, { "id": "droid_cotrack_episode_2147", "task": "Put the lid on the pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2147/frame_0000.jpg", "droid-cotrack/images/episode_2147/frame_0085.jpg", "droid-cotrack/images/episode_2147/frame_0197.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the lid on the pot?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the lid on the pot, execute the following phases: 1) Initial approach phase (start at [0.361, 0.574]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.391, 0.590]). The trajectory involves 198 precise waypoints with total movement distance of 0.366." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2147", "trajectory_length": 198, "key_frame_indices": [ 0, 85, 197 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2147.json" } }, { "id": "droid_cotrack_episode_10056", "task": "Open the top drawer; Open the topmost drawer; Open the top compartment of the dresser", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10056/frame_0000.jpg", "droid-cotrack/images/episode_10056/frame_0075.jpg", "droid-cotrack/images/episode_10056/frame_0157.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the top drawer; Open the topmost drawer; Open the top compartment of the dresser?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the top drawer; Open the topmost drawer; Open the top compartment of the dresser, execute the following phases: 1) Initial approach phase (start at [0.493, 0.403]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.495, 0.404]). The trajectory involves 158 precise waypoints with total movement distance of 0.117." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10056", "trajectory_length": 158, "key_frame_indices": [ 0, 75, 157 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10056.json" } }, { "id": "droid_cotrack_episode_1731", "task": "Close the drawer; Close the top drawer of the kitchen unit; Close the open drawer", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1731/frame_0000.jpg", "droid-cotrack/images/episode_1731/frame_0107.jpg", "droid-cotrack/images/episode_1731/frame_0282.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the drawer; Close the top drawer of the kitchen unit; Close the open drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the drawer; Close the top drawer of the kitchen unit; Close the open drawer, execute the following phases: 1) Initial approach phase (start at [0.862, 0.646]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.647, 0.545]). The trajectory involves 283 precise waypoints with total movement distance of 0.365." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1731", "trajectory_length": 283, "key_frame_indices": [ 0, 107, 282 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1731.json" } }, { "id": "droid_cotrack_episode_4013", "task": "Pick up the white rope and put it in between the black object.; Straighten out the rope on the platform; Set the white rope straight on the black object", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4013/frame_0000.jpg", "droid-cotrack/images/episode_4013/frame_0219.jpg", "droid-cotrack/images/episode_4013/frame_0244.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the white rope and put it in between the black object.; Straighten out the rope on the platform; Set the white rope straight on the black object?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the white rope and put it in between the black object.; Straighten out the rope on the platform; Set the white rope straight on the black object, execute the following phases: 1) Initial approach phase (start at [0.556, 0.691]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.444, 0.518]). The trajectory involves 245 precise waypoints with total movement distance of 0.685." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4013", "trajectory_length": 245, "key_frame_indices": [ 0, 219, 244 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4013.json" } }, { "id": "droid_cotrack_episode_1479", "task": "Move the seasoning bottle to the right; Move the white and orange shaker to the right; Pick up the small bottle and place it on the right side of the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1479/frame_0000.jpg", "droid-cotrack/images/episode_1479/frame_0262.jpg", "droid-cotrack/images/episode_1479/frame_0322.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the seasoning bottle to the right; Move the white and orange shaker to the right; Pick up the small bottle and place it on the right side of the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Move the seasoning bottle to the right; Move the white and orange shaker to the right; Pick up the small bottle and place it on the right side of the table, execute the following phases: 1) Initial approach phase (start at [0.534, 0.836]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.627, 0.510]). The trajectory involves 323 precise waypoints with total movement distance of 0.836." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1479", "trajectory_length": 323, "key_frame_indices": [ 0, 262, 322 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1479.json" } }, { "id": "droid_cotrack_episode_1723", "task": "Pick the rag on the handle of the cabinet door and put it on the counter; Put the towel on the left side of the counter.; Move the towel, hanging on the cabinet, to the counter", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1723/frame_0000.jpg", "droid-cotrack/images/episode_1723/frame_0273.jpg", "droid-cotrack/images/episode_1723/frame_0305.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the rag on the handle of the cabinet door and put it on the counter; Put the towel on the left side of the counter.; Move the towel, hanging on the cabinet, to the counter?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the rag on the handle of the cabinet door and put it on the counter; Put the towel on the left side of the counter.; Move the towel, hanging on the cabinet, to the counter, execute the following phases: 1) Initial approach phase (start at [0.346, 0.858]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.354, 0.864]). The trajectory involves 306 precise waypoints with total movement distance of 0.512." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1723", "trajectory_length": 306, "key_frame_indices": [ 0, 273, 305 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1723.json" } }, { "id": "droid_cotrack_episode_6244", "task": "Move the mug forward; Move the green cup downwards; Move the mug forward", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6244/frame_0000.jpg", "droid-cotrack/images/episode_6244/frame_0087.jpg", "droid-cotrack/images/episode_6244/frame_0113.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug forward; Move the green cup downwards; Move the mug forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug forward; Move the green cup downwards; Move the mug forward, execute the following phases: 1) Initial approach phase (start at [0.479, 0.324]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.498, 0.398]). The trajectory involves 114 precise waypoints with total movement distance of 0.199." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6244", "trajectory_length": 114, "key_frame_indices": [ 0, 87, 113 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6244.json" } }, { "id": "droid_cotrack_episode_6569", "task": "Put the cloth on the table; Remove the cloth from the wooden panel; Put the cloth on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6569/frame_0000.jpg", "droid-cotrack/images/episode_6569/frame_0051.jpg", "droid-cotrack/images/episode_6569/frame_0088.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the cloth on the table; Remove the cloth from the wooden panel; Put the cloth on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Put the cloth on the table; Remove the cloth from the wooden panel; Put the cloth on the table, execute the following phases: 1) Initial approach phase (start at [0.595, 0.483]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.724, 0.677]). The trajectory involves 89 precise waypoints with total movement distance of 0.455." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6569", "trajectory_length": 89, "key_frame_indices": [ 0, 51, 88 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6569.json" } }, { "id": "droid_cotrack_episode_1115", "task": "Close the box; Close the lid on the bowl; Close the lid of the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1115/frame_0000.jpg", "droid-cotrack/images/episode_1115/frame_0144.jpg", "droid-cotrack/images/episode_1115/frame_0341.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the box; Close the lid on the bowl; Close the lid of the bowl?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the box; Close the lid on the bowl; Close the lid of the bowl, execute the following phases: 1) Initial approach phase (start at [0.475, 0.658]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.475, 0.658]). The trajectory involves 342 precise waypoints with total movement distance of 0.139." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1115", "trajectory_length": 342, "key_frame_indices": [ 0, 144, 341 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1115.json" } }, { "id": "droid_cotrack_episode_6594", "task": "Put the green block in the bowl; Move the block from the table to the bowl; Place the green block inside the black bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6594/frame_0000.jpg", "droid-cotrack/images/episode_6594/frame_0101.jpg", "droid-cotrack/images/episode_6594/frame_0104.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the green block in the bowl; Move the block from the table to the bowl; Place the green block inside the black bowl?" }, { "from": "gpt", "value": "To complete this repositioning: Put the green block in the bowl; Move the block from the table to the bowl; Place the green block inside the black bowl, execute the following phases: 1) Initial approach phase (start at [0.700, 0.575]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.693, 0.585]). The trajectory involves 105 precise waypoints with total movement distance of 0.261." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6594", "trajectory_length": 105, "key_frame_indices": [ 0, 101, 104 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6594.json" } }, { "id": "droid_cotrack_episode_1509", "task": "Pick up the snacks and place them in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1509/frame_0000.jpg", "droid-cotrack/images/episode_1509/frame_0213.jpg", "droid-cotrack/images/episode_1509/frame_0249.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the snacks and place them in the bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the snacks and place them in the bowl, execute the following phases: 1) Initial approach phase (start at [0.543, 0.561]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.396, 0.753]). The trajectory involves 250 precise waypoints with total movement distance of 0.646." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1509", "trajectory_length": 250, "key_frame_indices": [ 0, 213, 249 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1509.json" } }, { "id": "droid_cotrack_episode_10065", "task": "Open the third cabinet door from the right; Open the top cabinet; Fully open the middle cupboard's right door", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10065/frame_0000.jpg", "droid-cotrack/images/episode_10065/frame_0040.jpg", "droid-cotrack/images/episode_10065/frame_0507.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the third cabinet door from the right; Open the top cabinet; Fully open the middle cupboard's right door?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the third cabinet door from the right; Open the top cabinet; Fully open the middle cupboard's right door, execute the following phases: 1) Initial approach phase (start at [0.497, 0.601]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.495, 0.588]). The trajectory involves 508 precise waypoints with total movement distance of 0.410." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10065", "trajectory_length": 508, "key_frame_indices": [ 0, 40, 507 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10065.json" } }, { "id": "droid_cotrack_episode_1737", "task": "Remove the lid from the pot and put it on the table; Remove the lid from the pot and put it on the table; Pick up the lid from the pot and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1737/frame_0000.jpg", "droid-cotrack/images/episode_1737/frame_0128.jpg", "droid-cotrack/images/episode_1737/frame_0156.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the lid from the pot and put it on the table; Remove the lid from the pot and put it on the table; Pick up the lid from the pot and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Remove the lid from the pot and put it on the table; Remove the lid from the pot and put it on the table; Pick up the lid from the pot and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.367, 0.386]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.411, 0.496]). The trajectory involves 157 precise waypoints with total movement distance of 0.286." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1737", "trajectory_length": 157, "key_frame_indices": [ 0, 128, 156 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1737.json" } }, { "id": "droid_cotrack_episode_1045", "task": "Put one white plate inside the dishwasher; Take a plate on the counter and put it in the rack; Put the top plate on the counter in the dish washing machine", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1045/frame_0000.jpg", "droid-cotrack/images/episode_1045/frame_1006.jpg", "droid-cotrack/images/episode_1045/frame_1009.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put one white plate inside the dishwasher; Take a plate on the counter and put it in the rack; Put the top plate on the counter in the dish washing machine?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put one white plate inside the dishwasher; Take a plate on the counter and put it in the rack; Put the top plate on the counter in the dish washing machine, execute the following phases: 1) Initial approach phase (start at [0.471, 0.527]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.474, 0.532]). The trajectory involves 1010 precise waypoints with total movement distance of 0.556." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1045", "trajectory_length": 1010, "key_frame_indices": [ 0, 1006, 1009 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1045.json" } }, { "id": "droid_cotrack_episode_412", "task": "Pick up the duster and rub the white board; Use the black eraser to wipe the whiteboard; Pick up the eraser and clear the board", "selected_step": 1, "image": [ "droid-cotrack/images/episode_412/frame_0000.jpg", "droid-cotrack/images/episode_412/frame_0242.jpg", "droid-cotrack/images/episode_412/frame_0312.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the duster and rub the white board; Use the black eraser to wipe the whiteboard; Pick up the eraser and clear the board?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Pick up the duster and rub the white board; Use the black eraser to wipe the whiteboard; Pick up the eraser and clear the board, execute the following phases: 1) Initial approach phase (start at [0.546, 0.534]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.537, 0.573]). The trajectory involves 313 precise waypoints with total movement distance of 0.206." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_412", "trajectory_length": 313, "key_frame_indices": [ 0, 242, 312 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_412.json" } }, { "id": "droid_cotrack_episode_2193", "task": "Take the marker out of the bowl and put it on the table; Remove the green pen from the grey bowl and out it on the table; Take the marker from the bowl and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2193/frame_0000.jpg", "droid-cotrack/images/episode_2193/frame_0105.jpg", "droid-cotrack/images/episode_2193/frame_0192.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the marker out of the bowl and put it on the table; Remove the green pen from the grey bowl and out it on the table; Take the marker from the bowl and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Take the marker out of the bowl and put it on the table; Remove the green pen from the grey bowl and out it on the table; Take the marker from the bowl and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.555, 0.697]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.555, 0.696]). The trajectory involves 193 precise waypoints with total movement distance of 0.067." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2193", "trajectory_length": 193, "key_frame_indices": [ 0, 105, 192 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2193.json" } }, { "id": "droid_cotrack_episode_1886", "task": "Put one pencil in the white cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1886/frame_0000.jpg", "droid-cotrack/images/episode_1886/frame_0485.jpg", "droid-cotrack/images/episode_1886/frame_0660.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put one pencil in the white cup?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put one pencil in the white cup, execute the following phases: 1) Initial approach phase (start at [0.468, 0.460]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.467, 0.459]). The trajectory involves 661 precise waypoints with total movement distance of 0.950." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1886", "trajectory_length": 661, "key_frame_indices": [ 0, 485, 660 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1886.json" } }, { "id": "droid_cotrack_episode_10022", "task": "Pick the stuffed pineapple and put it beside the oven; Put the orange plushie in the box; Move the pineapple toy to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10022/frame_0000.jpg", "droid-cotrack/images/episode_10022/frame_0121.jpg", "droid-cotrack/images/episode_10022/frame_0186.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the stuffed pineapple and put it beside the oven; Put the orange plushie in the box; Move the pineapple toy to the left?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the stuffed pineapple and put it beside the oven; Put the orange plushie in the box; Move the pineapple toy to the left, execute the following phases: 1) Initial approach phase (start at [0.587, 0.503]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.447, 0.580]). The trajectory involves 187 precise waypoints with total movement distance of 0.633." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10022", "trajectory_length": 187, "key_frame_indices": [ 0, 121, 186 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10022.json" } }, { "id": "droid_cotrack_episode_2085", "task": "Remove the lid from the black pot on the right side of the stove; Pick the lid on the smaller pot and place it on the stove; Pick up the lid from the pot on the right and put it on the stove top", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2085/frame_0000.jpg", "droid-cotrack/images/episode_2085/frame_0137.jpg", "droid-cotrack/images/episode_2085/frame_0197.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the lid from the black pot on the right side of the stove; Pick the lid on the smaller pot and place it on the stove; Pick up the lid from the pot on the right and put it on the stove top?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Remove the lid from the black pot on the right side of the stove; Pick the lid on the smaller pot and place it on the stove; Pick up the lid from the pot on the right and put it on the stove top, execute the following phases: 1) Initial approach phase (start at [0.849, 0.434]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.727, 0.481]). The trajectory involves 198 precise waypoints with total movement distance of 0.434." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2085", "trajectory_length": 198, "key_frame_indices": [ 0, 137, 197 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2085.json" } }, { "id": "droid_cotrack_episode_1805", "task": "Pick the ropes and put them in the box; Put the white ropes inside the blue box.; Place the ropes in the box", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1805/frame_0000.jpg", "droid-cotrack/images/episode_1805/frame_0122.jpg", "droid-cotrack/images/episode_1805/frame_0279.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the ropes and put them in the box; Put the white ropes inside the blue box.; Place the ropes in the box?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the ropes and put them in the box; Put the white ropes inside the blue box.; Place the ropes in the box, execute the following phases: 1) Initial approach phase (start at [0.531, 0.800]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.472, 0.672]). The trajectory involves 280 precise waypoints with total movement distance of 1.503." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1805", "trajectory_length": 280, "key_frame_indices": [ 0, 122, 279 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1805.json" } }, { "id": "droid_cotrack_episode_1516", "task": "Erase the drawing on the board; Erase the drawing on the board; Use the yellow eraser to wipe the whiteboard", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1516/frame_0000.jpg", "droid-cotrack/images/episode_1516/frame_0573.jpg", "droid-cotrack/images/episode_1516/frame_0853.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Erase the drawing on the board; Erase the drawing on the board; Use the yellow eraser to wipe the whiteboard?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Erase the drawing on the board; Erase the drawing on the board; Use the yellow eraser to wipe the whiteboard, execute the following phases: 1) Initial approach phase (start at [0.578, 0.699]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.575, 0.717]). The trajectory involves 854 precise waypoints with total movement distance of 1.796." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1516", "trajectory_length": 854, "key_frame_indices": [ 0, 573, 853 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1516.json" } }, { "id": "droid_cotrack_episode_1032", "task": "Put the bottle on the bottom shelf of the open cabinet; Put the bigger bottle in the open cupboard; Put the empty bottle inside the open upper cabinet.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1032/frame_0000.jpg", "droid-cotrack/images/episode_1032/frame_0156.jpg", "droid-cotrack/images/episode_1032/frame_0281.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the bottle on the bottom shelf of the open cabinet; Put the bigger bottle in the open cupboard; Put the empty bottle inside the open upper cabinet.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Put the bottle on the bottom shelf of the open cabinet; Put the bigger bottle in the open cupboard; Put the empty bottle inside the open upper cabinet., execute the following phases: 1) Initial approach phase (start at [0.565, 0.581]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.588, 0.458]). The trajectory involves 282 precise waypoints with total movement distance of 1.174." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1032", "trajectory_length": 282, "key_frame_indices": [ 0, 156, 281 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1032.json" } }, { "id": "droid_cotrack_episode_2251", "task": "Move the orange marker; Move the orange marker to the left; Move the orange marker to the left.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2251/frame_0000.jpg", "droid-cotrack/images/episode_2251/frame_0075.jpg", "droid-cotrack/images/episode_2251/frame_0118.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the orange marker; Move the orange marker to the left; Move the orange marker to the left.?" }, { "from": "gpt", "value": "To complete this repositioning: Move the orange marker; Move the orange marker to the left; Move the orange marker to the left., execute the following phases: 1) Initial approach phase (start at [0.992, 0.706]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.650, 0.417]). The trajectory involves 119 precise waypoints with total movement distance of 0.835." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2251", "trajectory_length": 119, "key_frame_indices": [ 0, 75, 118 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2251.json" } }, { "id": "droid_cotrack_episode_6523", "task": "Pull the chair out; Pull the chair out from under the table; Move the wooden chair backwards", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6523/frame_0000.jpg", "droid-cotrack/images/episode_6523/frame_0205.jpg", "droid-cotrack/images/episode_6523/frame_0268.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pull the chair out; Pull the chair out from under the table; Move the wooden chair backwards?" }, { "from": "gpt", "value": "To complete this repositioning: Pull the chair out; Pull the chair out from under the table; Move the wooden chair backwards, execute the following phases: 1) Initial approach phase (start at [0.439, 0.800]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.438, 0.801]). The trajectory involves 269 precise waypoints with total movement distance of 0.109." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6523", "trajectory_length": 269, "key_frame_indices": [ 0, 205, 268 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6523.json" } }, { "id": "droid_cotrack_episode_4442", "task": "Open the door; Open the door; Push the black handle down and open the door", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4442/frame_0000.jpg", "droid-cotrack/images/episode_4442/frame_0124.jpg", "droid-cotrack/images/episode_4442/frame_0279.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the door; Open the door; Push the black handle down and open the door?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the door; Open the door; Push the black handle down and open the door, execute the following phases: 1) Initial approach phase (start at [0.519, 0.566]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.726, 0.805]). The trajectory involves 280 precise waypoints with total movement distance of 0.709." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4442", "trajectory_length": 280, "key_frame_indices": [ 0, 124, 279 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4442.json" } }, { "id": "droid_cotrack_episode_1099", "task": "Put the orange plushy in the pot on the stove", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1099/frame_0000.jpg", "droid-cotrack/images/episode_1099/frame_0227.jpg", "droid-cotrack/images/episode_1099/frame_0237.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange plushy in the pot on the stove?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the orange plushy in the pot on the stove, execute the following phases: 1) Initial approach phase (start at [0.364, 0.691]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.683, 0.705]). The trajectory involves 238 precise waypoints with total movement distance of 1.047." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1099", "trajectory_length": 238, "key_frame_indices": [ 0, 227, 237 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1099.json" } }, { "id": "droid_cotrack_episode_10038", "task": "Push the lever on the toaster downwards", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10038/frame_0000.jpg", "droid-cotrack/images/episode_10038/frame_0086.jpg", "droid-cotrack/images/episode_10038/frame_0111.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the lever on the toaster downwards?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push the lever on the toaster downwards, execute the following phases: 1) Initial approach phase (start at [0.451, 0.518]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.451, 0.516]). The trajectory involves 112 precise waypoints with total movement distance of 0.040." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10038", "trajectory_length": 112, "key_frame_indices": [ 0, 86, 111 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10038.json" } }, { "id": "droid_cotrack_episode_4521", "task": "Take the watermelon toy out of the drawer and put it in the basket; Remove the watermelon plushie from the drawer; Take the watermelon out of the drawer and put it in the basket", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4521/frame_0000.jpg", "droid-cotrack/images/episode_4521/frame_0301.jpg", "droid-cotrack/images/episode_4521/frame_0353.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the watermelon toy out of the drawer and put it in the basket; Remove the watermelon plushie from the drawer; Take the watermelon out of the drawer and put it in the basket?" }, { "from": "gpt", "value": "To complete this repositioning: Take the watermelon toy out of the drawer and put it in the basket; Remove the watermelon plushie from the drawer; Take the watermelon out of the drawer and put it in the basket, execute the following phases: 1) Initial approach phase (start at [0.636, 0.835]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.488, 0.714]). The trajectory involves 354 precise waypoints with total movement distance of 0.653." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4521", "trajectory_length": 354, "key_frame_indices": [ 0, 301, 353 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4521.json" } }, { "id": "droid_cotrack_episode_2103", "task": "Open the laptop; Open the cover for the iPad on the bed; Open the cover of the tablet", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2103/frame_0000.jpg", "droid-cotrack/images/episode_2103/frame_0256.jpg", "droid-cotrack/images/episode_2103/frame_0370.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the laptop; Open the cover for the iPad on the bed; Open the cover of the tablet?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the laptop; Open the cover for the iPad on the bed; Open the cover of the tablet, execute the following phases: 1) Initial approach phase (start at [0.513, 0.430]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.496, 0.423]). The trajectory involves 371 precise waypoints with total movement distance of 1.494." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2103", "trajectory_length": 371, "key_frame_indices": [ 0, 256, 370 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2103.json" } }, { "id": "droid_cotrack_episode_909", "task": "Move the green towel to the right; Move the green cloth to the right; Move the green cloth slightly backward on the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_909/frame_0000.jpg", "droid-cotrack/images/episode_909/frame_0083.jpg", "droid-cotrack/images/episode_909/frame_0098.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the green towel to the right; Move the green cloth to the right; Move the green cloth slightly backward on the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the green towel to the right; Move the green cloth to the right; Move the green cloth slightly backward on the right, execute the following phases: 1) Initial approach phase (start at [0.500, 0.448]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.523, 0.605]). The trajectory involves 99 precise waypoints with total movement distance of 0.217." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_909", "trajectory_length": 99, "key_frame_indices": [ 0, 83, 98 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_909.json" } }, { "id": "droid_cotrack_episode_842", "task": "Take the lid off the pot and place it on the table; Remove the glass lid from the black pot; Put the lid on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_842/frame_0000.jpg", "droid-cotrack/images/episode_842/frame_0117.jpg", "droid-cotrack/images/episode_842/frame_0188.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the lid off the pot and place it on the table; Remove the glass lid from the black pot; Put the lid on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Take the lid off the pot and place it on the table; Remove the glass lid from the black pot; Put the lid on the table, execute the following phases: 1) Initial approach phase (start at [0.635, 0.569]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.639, 0.585]). The trajectory involves 189 precise waypoints with total movement distance of 0.365." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_842", "trajectory_length": 189, "key_frame_indices": [ 0, 117, 188 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_842.json" } }, { "id": "droid_cotrack_episode_4372", "task": "Turn on the third switch from the left of the extension cord; Turn on the third switch from the left side of the adapter; Turn the third switch from the left on the adapter on", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4372/frame_0000.jpg", "droid-cotrack/images/episode_4372/frame_0129.jpg", "droid-cotrack/images/episode_4372/frame_0178.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn on the third switch from the left of the extension cord; Turn on the third switch from the left side of the adapter; Turn the third switch from the left on the adapter on?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Turn on the third switch from the left of the extension cord; Turn on the third switch from the left side of the adapter; Turn the third switch from the left on the adapter on, execute the following phases: 1) Initial approach phase (start at [0.381, 0.373]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.379, 0.363]). The trajectory involves 179 precise waypoints with total movement distance of 0.084." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4372", "trajectory_length": 179, "key_frame_indices": [ 0, 129, 178 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4372.json" } }, { "id": "droid_cotrack_episode_10021", "task": "Take the black lid from the top of the can and put it on the table; Pick up the black lid from the bottle and put it on the table; Remove the lid from the spray can", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10021/frame_0000.jpg", "droid-cotrack/images/episode_10021/frame_0089.jpg", "droid-cotrack/images/episode_10021/frame_0112.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the black lid from the top of the can and put it on the table; Pick up the black lid from the bottle and put it on the table; Remove the lid from the spray can?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Take the black lid from the top of the can and put it on the table; Pick up the black lid from the bottle and put it on the table; Remove the lid from the spray can, execute the following phases: 1) Initial approach phase (start at [0.556, 0.342]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.520, 0.364]). The trajectory involves 113 precise waypoints with total movement distance of 0.305." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10021", "trajectory_length": 113, "key_frame_indices": [ 0, 89, 112 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10021.json" } }, { "id": "droid_cotrack_episode_1349", "task": "Remove the marker from the cup; Remove the marker from the cup and place it on the table; Remove the marker from the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1349/frame_0000.jpg", "droid-cotrack/images/episode_1349/frame_0270.jpg", "droid-cotrack/images/episode_1349/frame_0328.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker from the cup; Remove the marker from the cup and place it on the table; Remove the marker from the cup?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the marker from the cup; Remove the marker from the cup and place it on the table; Remove the marker from the cup, execute the following phases: 1) Initial approach phase (start at [0.571, 0.669]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.590, 0.706]). The trajectory involves 329 precise waypoints with total movement distance of 0.399." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1349", "trajectory_length": 329, "key_frame_indices": [ 0, 270, 328 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1349.json" } }, { "id": "droid_cotrack_episode_4510", "task": "Put the purple toy in the blue box", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4510/frame_0000.jpg", "droid-cotrack/images/episode_4510/frame_0258.jpg", "droid-cotrack/images/episode_4510/frame_0308.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the purple toy in the blue box?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the purple toy in the blue box, execute the following phases: 1) Initial approach phase (start at [0.670, 0.822]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.503, 0.463]). The trajectory involves 309 precise waypoints with total movement distance of 1.164." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4510", "trajectory_length": 309, "key_frame_indices": [ 0, 258, 308 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4510.json" } }, { "id": "droid_cotrack_episode_4110", "task": "Turn on the first knob from the left on the stove; Turn on the first knob from the left; Turn on the knob on the first position from the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4110/frame_0000.jpg", "droid-cotrack/images/episode_4110/frame_0128.jpg", "droid-cotrack/images/episode_4110/frame_0270.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn on the first knob from the left on the stove; Turn on the first knob from the left; Turn on the knob on the first position from the left?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Turn on the first knob from the left on the stove; Turn on the first knob from the left; Turn on the knob on the first position from the left, execute the following phases: 1) Initial approach phase (start at [0.352, 0.635]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.353, 0.635]). The trajectory involves 271 precise waypoints with total movement distance of 0.081." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4110", "trajectory_length": 271, "key_frame_indices": [ 0, 128, 270 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4110.json" } }, { "id": "droid_cotrack_episode_6695", "task": "Move the utensil holder to the left; Move the black object; Pick up the utensil box from the table and move it to the left.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6695/frame_0000.jpg", "droid-cotrack/images/episode_6695/frame_0107.jpg", "droid-cotrack/images/episode_6695/frame_0171.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the utensil holder to the left; Move the black object; Pick up the utensil box from the table and move it to the left.?" }, { "from": "gpt", "value": "To complete this repositioning: Move the utensil holder to the left; Move the black object; Pick up the utensil box from the table and move it to the left., execute the following phases: 1) Initial approach phase (start at [0.788, 0.556]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.610, 0.442]). The trajectory involves 172 precise waypoints with total movement distance of 0.437." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6695", "trajectory_length": 172, "key_frame_indices": [ 0, 107, 171 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6695.json" } }, { "id": "droid_cotrack_episode_1944", "task": "Open the laptop", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1944/frame_0000.jpg", "droid-cotrack/images/episode_1944/frame_0144.jpg", "droid-cotrack/images/episode_1944/frame_0173.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the laptop, execute the following phases: 1) Initial approach phase (start at [0.290, 0.583]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.295, 0.587]). The trajectory involves 174 precise waypoints with total movement distance of 0.111." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1944", "trajectory_length": 174, "key_frame_indices": [ 0, 144, 173 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1944.json" } }, { "id": "droid_cotrack_episode_2060", "task": "Unfold the towel on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2060/frame_0000.jpg", "droid-cotrack/images/episode_2060/frame_0180.jpg", "droid-cotrack/images/episode_2060/frame_0241.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the towel on the table?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Unfold the towel on the table, execute the following phases: 1) Initial approach phase (start at [0.685, 0.758]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.647, 0.717]). The trajectory involves 242 precise waypoints with total movement distance of 0.235." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2060", "trajectory_length": 242, "key_frame_indices": [ 0, 180, 241 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2060.json" } }, { "id": "droid_cotrack_episode_10141", "task": "Place the cup over the bottle of water", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10141/frame_0000.jpg", "droid-cotrack/images/episode_10141/frame_0092.jpg", "droid-cotrack/images/episode_10141/frame_0156.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the cup over the bottle of water?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Place the cup over the bottle of water, execute the following phases: 1) Initial approach phase (start at [0.352, 0.890]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.363, 0.609]). The trajectory involves 157 precise waypoints with total movement distance of 0.882." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10141", "trajectory_length": 157, "key_frame_indices": [ 0, 92, 156 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10141.json" } }, { "id": "droid_cotrack_episode_1659", "task": "Put the lid on the tray", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1659/frame_0000.jpg", "droid-cotrack/images/episode_1659/frame_0131.jpg", "droid-cotrack/images/episode_1659/frame_0196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the lid on the tray?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the lid on the tray, execute the following phases: 1) Initial approach phase (start at [0.419, 0.501]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.382, 0.556]). The trajectory involves 197 precise waypoints with total movement distance of 0.672." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1659", "trajectory_length": 197, "key_frame_indices": [ 0, 131, 196 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1659.json" } }, { "id": "droid_cotrack_episode_4023", "task": "Pick up the white towel and wipe the the white tray.; Use the cloth to wipe the tray; Use the towel to wipe the tray", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4023/frame_0000.jpg", "droid-cotrack/images/episode_4023/frame_0228.jpg", "droid-cotrack/images/episode_4023/frame_0556.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the white towel and wipe the the white tray.; Use the cloth to wipe the tray; Use the towel to wipe the tray?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Pick up the white towel and wipe the the white tray.; Use the cloth to wipe the tray; Use the towel to wipe the tray, execute the following phases: 1) Initial approach phase (start at [0.481, 0.596]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.491, 0.564]). The trajectory involves 557 precise waypoints with total movement distance of 0.741." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4023", "trajectory_length": 557, "key_frame_indices": [ 0, 228, 556 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4023.json" } }, { "id": "droid_cotrack_episode_10291", "task": "Close the blue bowl with the pink lid; Cover the blue bowl with the pink lid; Put the pink plate on top of the blue bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10291/frame_0000.jpg", "droid-cotrack/images/episode_10291/frame_0102.jpg", "droid-cotrack/images/episode_10291/frame_0163.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the blue bowl with the pink lid; Cover the blue bowl with the pink lid; Put the pink plate on top of the blue bowl?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the blue bowl with the pink lid; Cover the blue bowl with the pink lid; Put the pink plate on top of the blue bowl, execute the following phases: 1) Initial approach phase (start at [0.408, 0.465]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.445, 0.569]). The trajectory involves 164 precise waypoints with total movement distance of 0.488." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10291", "trajectory_length": 164, "key_frame_indices": [ 0, 102, 163 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10291.json" } }, { "id": "droid_cotrack_episode_10321", "task": "Pick up the bottle and put it on the counter", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10321/frame_0000.jpg", "droid-cotrack/images/episode_10321/frame_0112.jpg", "droid-cotrack/images/episode_10321/frame_0165.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the bottle and put it on the counter?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the bottle and put it on the counter, execute the following phases: 1) Initial approach phase (start at [0.597, 0.428]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.687, 0.305]). The trajectory involves 166 precise waypoints with total movement distance of 0.389." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10321", "trajectory_length": 166, "key_frame_indices": [ 0, 112, 165 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10321.json" } }, { "id": "droid_cotrack_episode_884", "task": "Move the towel to the left; Move the towel slightly to the left; Shift the towel to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_884/frame_0000.jpg", "droid-cotrack/images/episode_884/frame_0182.jpg", "droid-cotrack/images/episode_884/frame_0204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the towel to the left; Move the towel slightly to the left; Shift the towel to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the towel to the left; Move the towel slightly to the left; Shift the towel to the left, execute the following phases: 1) Initial approach phase (start at [0.614, 0.636]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.561, 0.448]). The trajectory involves 205 precise waypoints with total movement distance of 0.262." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_884", "trajectory_length": 205, "key_frame_indices": [ 0, 182, 204 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_884.json" } }, { "id": "droid_cotrack_episode_652", "task": "Place a bottle on the purple mat; Pick up one of the white objects from the bowl and place it on the table; Put one bottle on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_652/frame_0000.jpg", "droid-cotrack/images/episode_652/frame_0072.jpg", "droid-cotrack/images/episode_652/frame_0122.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place a bottle on the purple mat; Pick up one of the white objects from the bowl and place it on the table; Put one bottle on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Place a bottle on the purple mat; Pick up one of the white objects from the bowl and place it on the table; Put one bottle on the table, execute the following phases: 1) Initial approach phase (start at [0.406, 0.503]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.407, 0.504]). The trajectory involves 123 precise waypoints with total movement distance of 0.024." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_652", "trajectory_length": 123, "key_frame_indices": [ 0, 72, 122 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_652.json" } }, { "id": "droid_cotrack_episode_610", "task": "Put the green cube inside the black bowl; Put the green block in the bowl; Put the green block inside the black bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_610/frame_0000.jpg", "droid-cotrack/images/episode_610/frame_0111.jpg", "droid-cotrack/images/episode_610/frame_0183.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the green cube inside the black bowl; Put the green block in the bowl; Put the green block inside the black bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the green cube inside the black bowl; Put the green block in the bowl; Put the green block inside the black bowl, execute the following phases: 1) Initial approach phase (start at [0.480, 0.722]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.512, 0.574]). The trajectory involves 184 precise waypoints with total movement distance of 0.418." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_610", "trajectory_length": 184, "key_frame_indices": [ 0, 111, 183 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_610.json" } }, { "id": "droid_cotrack_episode_6270", "task": "Open the top cabinet on the left; Open the top of the cabinet; Open the top cupboard", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6270/frame_0000.jpg", "droid-cotrack/images/episode_6270/frame_0245.jpg", "droid-cotrack/images/episode_6270/frame_0263.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the top cabinet on the left; Open the top of the cabinet; Open the top cupboard?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the top cabinet on the left; Open the top of the cabinet; Open the top cupboard, execute the following phases: 1) Initial approach phase (start at [0.449, 0.408]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.410, 0.611]). The trajectory involves 264 precise waypoints with total movement distance of 0.376." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6270", "trajectory_length": 264, "key_frame_indices": [ 0, 245, 263 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6270.json" } }, { "id": "droid_cotrack_episode_1846", "task": "Move the cup forward; Move the cup towards you; Move the grey cup forwards", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1846/frame_0000.jpg", "droid-cotrack/images/episode_1846/frame_0125.jpg", "droid-cotrack/images/episode_1846/frame_0158.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup forward; Move the cup towards you; Move the grey cup forwards?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup forward; Move the cup towards you; Move the grey cup forwards, execute the following phases: 1) Initial approach phase (start at [0.616, 0.477]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.646, 0.595]). The trajectory involves 159 precise waypoints with total movement distance of 0.266." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1846", "trajectory_length": 159, "key_frame_indices": [ 0, 125, 158 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1846.json" } }, { "id": "droid_cotrack_episode_357", "task": "Put the marker on the right side of the silver pot; Remove the marker from the pot and put it on the table; Take the black marker out of the silver pot and lay it down on the right side of the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_357/frame_0000.jpg", "droid-cotrack/images/episode_357/frame_0105.jpg", "droid-cotrack/images/episode_357/frame_0159.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker on the right side of the silver pot; Remove the marker from the pot and put it on the table; Take the black marker out of the silver pot and lay it down on the right side of the table?" }, { "from": "gpt", "value": "To complete this repositioning: Put the marker on the right side of the silver pot; Remove the marker from the pot and put it on the table; Take the black marker out of the silver pot and lay it down on the right side of the table, execute the following phases: 1) Initial approach phase (start at [0.535, 0.458]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.539, 0.463]). The trajectory involves 160 precise waypoints with total movement distance of 0.086." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_357", "trajectory_length": 160, "key_frame_indices": [ 0, 105, 159 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_357.json" } }, { "id": "droid_cotrack_episode_6527", "task": "Place the marker inside the yellow mug; Put the marker inside the yellow mug; Put the marker in the mug", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6527/frame_0000.jpg", "droid-cotrack/images/episode_6527/frame_0207.jpg", "droid-cotrack/images/episode_6527/frame_0342.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the marker inside the yellow mug; Put the marker inside the yellow mug; Put the marker in the mug?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Place the marker inside the yellow mug; Put the marker inside the yellow mug; Put the marker in the mug, execute the following phases: 1) Initial approach phase (start at [0.719, 0.510]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.649, 0.401]). The trajectory involves 343 precise waypoints with total movement distance of 0.597." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6527", "trajectory_length": 343, "key_frame_indices": [ 0, 207, 342 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6527.json" } }, { "id": "droid_cotrack_episode_1957", "task": "Unfold the green cloth; Unfold the towel on the table; Unfold the rag", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1957/frame_0000.jpg", "droid-cotrack/images/episode_1957/frame_0086.jpg", "droid-cotrack/images/episode_1957/frame_0124.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the green cloth; Unfold the towel on the table; Unfold the rag?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Unfold the green cloth; Unfold the towel on the table; Unfold the rag, execute the following phases: 1) Initial approach phase (start at [0.578, 0.560]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.576, 0.532]). The trajectory involves 125 precise waypoints with total movement distance of 0.068." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1957", "trajectory_length": 125, "key_frame_indices": [ 0, 86, 124 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1957.json" } }, { "id": "droid_cotrack_episode_10093", "task": "Remove the marker from the blue cup and put it on the table; Take the marker out of the blue cup and put it on the table; Take the marker out of the cup and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10093/frame_0000.jpg", "droid-cotrack/images/episode_10093/frame_0177.jpg", "droid-cotrack/images/episode_10093/frame_0237.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker from the blue cup and put it on the table; Take the marker out of the blue cup and put it on the table; Take the marker out of the cup and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the marker from the blue cup and put it on the table; Take the marker out of the blue cup and put it on the table; Take the marker out of the cup and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.456, 0.377]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.549, 0.686]). The trajectory involves 238 precise waypoints with total movement distance of 1.678." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10093", "trajectory_length": 238, "key_frame_indices": [ 0, 177, 237 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10093.json" } }, { "id": "droid_cotrack_episode_10213", "task": "Put the green block next to the other green block on the wooden board; Put the green square block on the second left position of the left wooden board; Place green block onto the tray", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10213/frame_0000.jpg", "droid-cotrack/images/episode_10213/frame_0144.jpg", "droid-cotrack/images/episode_10213/frame_0217.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the green block next to the other green block on the wooden board; Put the green square block on the second left position of the left wooden board; Place green block onto the tray?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the green block next to the other green block on the wooden board; Put the green square block on the second left position of the left wooden board; Place green block onto the tray, execute the following phases: 1) Initial approach phase (start at [0.555, 0.990]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.546, 0.960]). The trajectory involves 218 precise waypoints with total movement distance of 0.273." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10213", "trajectory_length": 218, "key_frame_indices": [ 0, 144, 217 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10213.json" } }, { "id": "droid_cotrack_episode_10192", "task": "Slide the door to the right; Slide the wardrobe door to close; Slide the closet door to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10192/frame_0000.jpg", "droid-cotrack/images/episode_10192/frame_0289.jpg", "droid-cotrack/images/episode_10192/frame_0330.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the door to the right; Slide the wardrobe door to close; Slide the closet door to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the door to the right; Slide the wardrobe door to close; Slide the closet door to the right, execute the following phases: 1) Initial approach phase (start at [0.319, 0.637]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.376, 0.510]). The trajectory involves 331 precise waypoints with total movement distance of 1.349." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10192", "trajectory_length": 331, "key_frame_indices": [ 0, 289, 330 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10192.json" } }, { "id": "droid_cotrack_episode_10059", "task": "Put the bottle on the right on top of the bottle on the left; Pick up the small bottle and put it on top of the big bottle; Pick up the small green bottle on the right and place it on top of the green bottle on the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10059/frame_0000.jpg", "droid-cotrack/images/episode_10059/frame_0122.jpg", "droid-cotrack/images/episode_10059/frame_0290.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the bottle on the right on top of the bottle on the left; Pick up the small bottle and put it on top of the big bottle; Pick up the small green bottle on the right and place it on top of the green bottle on the left?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the bottle on the right on top of the bottle on the left; Pick up the small bottle and put it on top of the big bottle; Pick up the small green bottle on the right and place it on top of the green bottle on the left, execute the following phases: 1) Initial approach phase (start at [0.584, 0.506]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.555, 0.330]). The trajectory involves 291 precise waypoints with total movement distance of 0.376." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10059", "trajectory_length": 291, "key_frame_indices": [ 0, 122, 290 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10059.json" } }, { "id": "droid_cotrack_episode_1266", "task": "Place the remote on the black cushion", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1266/frame_0000.jpg", "droid-cotrack/images/episode_1266/frame_0176.jpg", "droid-cotrack/images/episode_1266/frame_0206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the remote on the black cushion?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Place the remote on the black cushion, execute the following phases: 1) Initial approach phase (start at [0.214, 0.773]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.210, 0.771]). The trajectory involves 207 precise waypoints with total movement distance of 0.127." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1266", "trajectory_length": 207, "key_frame_indices": [ 0, 176, 206 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1266.json" } }, { "id": "droid_cotrack_episode_1276", "task": "Put the lid on the table; Take the lid off the pot; Remove the lid from the pot and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1276/frame_0000.jpg", "droid-cotrack/images/episode_1276/frame_0129.jpg", "droid-cotrack/images/episode_1276/frame_0232.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the lid on the table; Take the lid off the pot; Remove the lid from the pot and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Put the lid on the table; Take the lid off the pot; Remove the lid from the pot and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.360, 0.585]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.363, 0.585]). The trajectory involves 233 precise waypoints with total movement distance of 0.094." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1276", "trajectory_length": 233, "key_frame_indices": [ 0, 129, 232 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1276.json" } }, { "id": "droid_cotrack_episode_6391", "task": "Move the oil bottle; Move the avocado oil bottle to the left; Move the bottle to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6391/frame_0000.jpg", "droid-cotrack/images/episode_6391/frame_0256.jpg", "droid-cotrack/images/episode_6391/frame_0266.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the oil bottle; Move the avocado oil bottle to the left; Move the bottle to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the oil bottle; Move the avocado oil bottle to the left; Move the bottle to the left, execute the following phases: 1) Initial approach phase (start at [0.496, 0.747]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.412, 0.710]). The trajectory involves 267 precise waypoints with total movement distance of 0.451." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6391", "trajectory_length": 267, "key_frame_indices": [ 0, 256, 266 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6391.json" } }, { "id": "droid_cotrack_episode_10042", "task": "Pick up the black cable and put it in the tool box; Put the black cable in the storage box; Put the black cable inside the toolbox.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10042/frame_0000.jpg", "droid-cotrack/images/episode_10042/frame_0066.jpg", "droid-cotrack/images/episode_10042/frame_0158.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the black cable and put it in the tool box; Put the black cable in the storage box; Put the black cable inside the toolbox.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the black cable and put it in the tool box; Put the black cable in the storage box; Put the black cable inside the toolbox., execute the following phases: 1) Initial approach phase (start at [0.573, 0.661]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.598, 0.639]). The trajectory involves 159 precise waypoints with total movement distance of 0.174." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10042", "trajectory_length": 159, "key_frame_indices": [ 0, 66, 158 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10042.json" } }, { "id": "droid_cotrack_episode_1483", "task": "Pick up the colourless cup from the countertop and pour its contents in the two cups.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1483/frame_0000.jpg", "droid-cotrack/images/episode_1483/frame_0244.jpg", "droid-cotrack/images/episode_1483/frame_0749.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the colourless cup from the countertop and pour its contents in the two cups.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Pick up the colourless cup from the countertop and pour its contents in the two cups., execute the following phases: 1) Initial approach phase (start at [0.662, 0.642]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.662, 0.647]). The trajectory involves 750 precise waypoints with total movement distance of 0.459." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1483", "trajectory_length": 750, "key_frame_indices": [ 0, 244, 749 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1483.json" } }, { "id": "droid_cotrack_episode_2010", "task": "Unhook the coat hanger and hang it to the next hook", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2010/frame_0000.jpg", "droid-cotrack/images/episode_2010/frame_0341.jpg", "droid-cotrack/images/episode_2010/frame_0347.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unhook the coat hanger and hang it to the next hook?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Unhook the coat hanger and hang it to the next hook, execute the following phases: 1) Initial approach phase (start at [0.705, 0.232]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.704, 0.235]). The trajectory involves 348 precise waypoints with total movement distance of 0.187." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2010", "trajectory_length": 348, "key_frame_indices": [ 0, 341, 347 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2010.json" } }, { "id": "droid_cotrack_episode_4120", "task": "Put the snack bar in the cabinet", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4120/frame_0000.jpg", "droid-cotrack/images/episode_4120/frame_0145.jpg", "droid-cotrack/images/episode_4120/frame_0303.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the snack bar in the cabinet?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the snack bar in the cabinet, execute the following phases: 1) Initial approach phase (start at [0.426, 0.792]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.404, 0.194]). The trajectory involves 304 precise waypoints with total movement distance of 1.586." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4120", "trajectory_length": 304, "key_frame_indices": [ 0, 145, 303 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4120.json" } }, { "id": "droid_cotrack_episode_6556", "task": "Put the orange packet inside the sink.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6556/frame_0000.jpg", "droid-cotrack/images/episode_6556/frame_0146.jpg", "droid-cotrack/images/episode_6556/frame_0183.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange packet inside the sink.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the orange packet inside the sink., execute the following phases: 1) Initial approach phase (start at [0.346, 0.773]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.497, 0.922]). The trajectory involves 184 precise waypoints with total movement distance of 0.422." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6556", "trajectory_length": 184, "key_frame_indices": [ 0, 146, 183 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6556.json" } }, { "id": "droid_cotrack_episode_690", "task": "Uncover the pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_690/frame_0000.jpg", "droid-cotrack/images/episode_690/frame_0165.jpg", "droid-cotrack/images/episode_690/frame_0182.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Uncover the pot?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Uncover the pot, execute the following phases: 1) Initial approach phase (start at [0.625, 0.514]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.493, 0.474]). The trajectory involves 183 precise waypoints with total movement distance of 0.403." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_690", "trajectory_length": 183, "key_frame_indices": [ 0, 165, 182 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_690.json" } }, { "id": "droid_cotrack_episode_606", "task": "Place the carrot plush toy on the pan; Put the carrot plushie on the pan; Put the yellow object inside the pan", "selected_step": 1, "image": [ "droid-cotrack/images/episode_606/frame_0000.jpg", "droid-cotrack/images/episode_606/frame_0103.jpg", "droid-cotrack/images/episode_606/frame_0120.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the carrot plush toy on the pan; Put the carrot plushie on the pan; Put the yellow object inside the pan?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Place the carrot plush toy on the pan; Put the carrot plushie on the pan; Put the yellow object inside the pan, execute the following phases: 1) Initial approach phase (start at [0.593, 0.589]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.491, 0.509]). The trajectory involves 121 precise waypoints with total movement distance of 0.270." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_606", "trajectory_length": 121, "key_frame_indices": [ 0, 103, 120 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_606.json" } }, { "id": "droid_cotrack_episode_10108", "task": "Open the top right cupboard door; Open the right door of the cabinet on the far right; Open the second cupboard drawer on the right side of the microwave", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10108/frame_0000.jpg", "droid-cotrack/images/episode_10108/frame_0122.jpg", "droid-cotrack/images/episode_10108/frame_0234.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the top right cupboard door; Open the right door of the cabinet on the far right; Open the second cupboard drawer on the right side of the microwave?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the top right cupboard door; Open the right door of the cabinet on the far right; Open the second cupboard drawer on the right side of the microwave, execute the following phases: 1) Initial approach phase (start at [0.538, 0.407]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.542, 0.410]). The trajectory involves 235 precise waypoints with total movement distance of 0.142." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10108", "trajectory_length": 235, "key_frame_indices": [ 0, 122, 234 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10108.json" } }, { "id": "droid_cotrack_episode_6520", "task": "Move the mug to the left; Move the cup to the left; Move the cup slightly to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6520/frame_0000.jpg", "droid-cotrack/images/episode_6520/frame_0114.jpg", "droid-cotrack/images/episode_6520/frame_0151.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug to the left; Move the cup to the left; Move the cup slightly to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug to the left; Move the cup to the left; Move the cup slightly to the left, execute the following phases: 1) Initial approach phase (start at [0.545, 0.370]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.529, 0.458]). The trajectory involves 152 precise waypoints with total movement distance of 0.186." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6520", "trajectory_length": 152, "key_frame_indices": [ 0, 114, 151 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6520.json" } }, { "id": "droid_cotrack_episode_1769", "task": "Put the marker on the table; Put the marker in the mug on the table; Take the marker out of the mug and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1769/frame_0000.jpg", "droid-cotrack/images/episode_1769/frame_0218.jpg", "droid-cotrack/images/episode_1769/frame_0233.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker on the table; Put the marker in the mug on the table; Take the marker out of the mug and put it on the table?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the marker on the table; Put the marker in the mug on the table; Take the marker out of the mug and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.579, 0.621]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.582, 0.626]). The trajectory involves 234 precise waypoints with total movement distance of 0.103." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1769", "trajectory_length": 234, "key_frame_indices": [ 0, 218, 233 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1769.json" } }, { "id": "droid_cotrack_episode_4421", "task": "Close the bottom drawer of the beige file cabinet; Close the bottom drawer of the cabinet at the right; Close the bottom drawer on the beige filing cabinet", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4421/frame_0000.jpg", "droid-cotrack/images/episode_4421/frame_0110.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the bottom drawer of the beige file cabinet; Close the bottom drawer of the cabinet at the right; Close the bottom drawer on the beige filing cabinet?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the bottom drawer of the beige file cabinet; Close the bottom drawer of the cabinet at the right; Close the bottom drawer on the beige filing cabinet, execute the following phases: 1) Initial approach phase (start at [0.609, 0.737]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.617, 0.741]). The trajectory involves 111 precise waypoints with total movement distance of 0.106." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4421", "trajectory_length": 111, "key_frame_indices": [ 0, 110 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4421.json" } }, { "id": "droid_cotrack_episode_10122", "task": "Place the white rope in the blue box; Put the ropes in the box; Pick up the ropes and put them in the box", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10122/frame_0000.jpg", "droid-cotrack/images/episode_10122/frame_0113.jpg", "droid-cotrack/images/episode_10122/frame_0242.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the white rope in the blue box; Put the ropes in the box; Pick up the ropes and put them in the box?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Place the white rope in the blue box; Put the ropes in the box; Pick up the ropes and put them in the box, execute the following phases: 1) Initial approach phase (start at [0.497, 0.622]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.498, 0.543]). The trajectory involves 243 precise waypoints with total movement distance of 0.591." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10122", "trajectory_length": 243, "key_frame_indices": [ 0, 113, 242 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10122.json" } }, { "id": "droid_cotrack_episode_10010", "task": "press a button on the machine", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10010/frame_0000.jpg", "droid-cotrack/images/episode_10010/frame_0032.jpg", "droid-cotrack/images/episode_10010/frame_0173.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: press a button on the machine?" }, { "from": "gpt", "value": "To complete this button/switch activation: press a button on the machine, execute the following phases: 1) Initial approach phase (start at [0.539, 0.077]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.539, 0.075]). The trajectory involves 174 precise waypoints with total movement distance of 0.088." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10010", "trajectory_length": 174, "key_frame_indices": [ 0, 32, 173 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10010.json" } }, { "id": "droid_cotrack_episode_1040", "task": "Put the marker into the red mug.; Pick up the marker from the table and put it in the cup; Put the marker in the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1040/frame_0000.jpg", "droid-cotrack/images/episode_1040/frame_0115.jpg", "droid-cotrack/images/episode_1040/frame_0179.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker into the red mug.; Pick up the marker from the table and put it in the cup; Put the marker in the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the marker into the red mug.; Pick up the marker from the table and put it in the cup; Put the marker in the cup, execute the following phases: 1) Initial approach phase (start at [0.523, 0.615]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.538, 0.610]). The trajectory involves 180 precise waypoints with total movement distance of 0.245." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1040", "trajectory_length": 180, "key_frame_indices": [ 0, 115, 179 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1040.json" } }, { "id": "droid_cotrack_episode_635", "task": "Put the carrot plush toy in the pot; Put the carrot plushie inside the pot that is in the sink; Put the carrot plush toy in the pot in the sink", "selected_step": 1, "image": [ "droid-cotrack/images/episode_635/frame_0000.jpg", "droid-cotrack/images/episode_635/frame_0134.jpg", "droid-cotrack/images/episode_635/frame_0145.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the carrot plush toy in the pot; Put the carrot plushie inside the pot that is in the sink; Put the carrot plush toy in the pot in the sink?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the carrot plush toy in the pot; Put the carrot plushie inside the pot that is in the sink; Put the carrot plush toy in the pot in the sink, execute the following phases: 1) Initial approach phase (start at [0.510, 0.504]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.645, 0.686]). The trajectory involves 146 precise waypoints with total movement distance of 0.419." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_635", "trajectory_length": 146, "key_frame_indices": [ 0, 134, 145 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_635.json" } }, { "id": "droid_cotrack_episode_1066", "task": "Move the ball to the right; Move the basketball to the right.; Push the ball to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1066/frame_0000.jpg", "droid-cotrack/images/episode_1066/frame_0054.jpg", "droid-cotrack/images/episode_1066/frame_0216.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the ball to the right; Move the basketball to the right.; Push the ball to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the ball to the right; Move the basketball to the right.; Push the ball to the right, execute the following phases: 1) Initial approach phase (start at [0.564, 0.849]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.721, 0.684]). The trajectory involves 217 precise waypoints with total movement distance of 0.885." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1066", "trajectory_length": 217, "key_frame_indices": [ 0, 54, 216 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1066.json" } }, { "id": "droid_cotrack_episode_10267", "task": "Pick up the bowl from the sink and place it on top of the plates on the dishrack; Take the bowl out of the sink and put it in the dish rack; Place the bowl on top of the stack of plates", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10267/frame_0000.jpg", "droid-cotrack/images/episode_10267/frame_0103.jpg", "droid-cotrack/images/episode_10267/frame_0225.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the bowl from the sink and place it on top of the plates on the dishrack; Take the bowl out of the sink and put it in the dish rack; Place the bowl on top of the stack of plates?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the bowl from the sink and place it on top of the plates on the dishrack; Take the bowl out of the sink and put it in the dish rack; Place the bowl on top of the stack of plates, execute the following phases: 1) Initial approach phase (start at [0.671, 0.715]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.506, 0.460]). The trajectory involves 226 precise waypoints with total movement distance of 0.699." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10267", "trajectory_length": 226, "key_frame_indices": [ 0, 103, 225 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10267.json" } }, { "id": "droid_cotrack_episode_6537", "task": "Pick the bottle on the table and put it in the pot; Put the grey shaker inside the silver pot on the far right; Put the bottle in the smaller pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6537/frame_0000.jpg", "droid-cotrack/images/episode_6537/frame_0123.jpg", "droid-cotrack/images/episode_6537/frame_0197.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the bottle on the table and put it in the pot; Put the grey shaker inside the silver pot on the far right; Put the bottle in the smaller pot?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the bottle on the table and put it in the pot; Put the grey shaker inside the silver pot on the far right; Put the bottle in the smaller pot, execute the following phases: 1) Initial approach phase (start at [0.490, 0.465]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.494, 0.450]). The trajectory involves 198 precise waypoints with total movement distance of 0.282." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6537", "trajectory_length": 198, "key_frame_indices": [ 0, 123, 197 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6537.json" } }, { "id": "droid_cotrack_episode_559", "task": "Use the object to mix the contents in the bowl; Stir the potato fries in the bowl; Use the spoon to mix in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_559/frame_0000.jpg", "droid-cotrack/images/episode_559/frame_0325.jpg", "droid-cotrack/images/episode_559/frame_0513.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the object to mix the contents in the bowl; Stir the potato fries in the bowl; Use the spoon to mix in the bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Use the object to mix the contents in the bowl; Stir the potato fries in the bowl; Use the spoon to mix in the bowl, execute the following phases: 1) Initial approach phase (start at [0.519, 0.532]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.515, 0.579]). The trajectory involves 514 precise waypoints with total movement distance of 0.759." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_559", "trajectory_length": 514, "key_frame_indices": [ 0, 325, 513 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_559.json" } }, { "id": "droid_cotrack_episode_812", "task": "Take the measuring tape from the case and put it on the table; Pick up the yellow object from the tool box and put it on the table; Remove the yellow thing from the case and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_812/frame_0000.jpg", "droid-cotrack/images/episode_812/frame_0225.jpg", "droid-cotrack/images/episode_812/frame_0267.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the measuring tape from the case and put it on the table; Pick up the yellow object from the tool box and put it on the table; Remove the yellow thing from the case and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Take the measuring tape from the case and put it on the table; Pick up the yellow object from the tool box and put it on the table; Remove the yellow thing from the case and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.689, 0.592]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.643, 0.685]). The trajectory involves 268 precise waypoints with total movement distance of 0.400." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_812", "trajectory_length": 268, "key_frame_indices": [ 0, 225, 267 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_812.json" } }, { "id": "droid_cotrack_episode_10180", "task": "Pick up the white board eraser and move it slightly forward.; Move the black box to the right; Move the black box backwards", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10180/frame_0000.jpg", "droid-cotrack/images/episode_10180/frame_0077.jpg", "droid-cotrack/images/episode_10180/frame_0127.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the white board eraser and move it slightly forward.; Move the black box to the right; Move the black box backwards?" }, { "from": "gpt", "value": "To complete this repositioning: Pick up the white board eraser and move it slightly forward.; Move the black box to the right; Move the black box backwards, execute the following phases: 1) Initial approach phase (start at [0.545, 0.778]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.569, 0.677]). The trajectory involves 128 precise waypoints with total movement distance of 0.210." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10180", "trajectory_length": 128, "key_frame_indices": [ 0, 77, 127 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10180.json" } }, { "id": "droid_cotrack_episode_4169", "task": "Move the mouse; Move the mouse to the left; Move the mouse to the left of the white cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4169/frame_0000.jpg", "droid-cotrack/images/episode_4169/frame_0050.jpg", "droid-cotrack/images/episode_4169/frame_0832.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mouse; Move the mouse to the left; Move the mouse to the left of the white cup?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mouse; Move the mouse to the left; Move the mouse to the left of the white cup, execute the following phases: 1) Initial approach phase (start at [0.820, 0.858]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.488, 0.813]). The trajectory involves 833 precise waypoints with total movement distance of 1.913." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4169", "trajectory_length": 833, "key_frame_indices": [ 0, 50, 832 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4169.json" } }, { "id": "droid_cotrack_episode_1463", "task": "Turn off the stove light; Turn off the light above the stove; Turn off the light above the stove.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1463/frame_0000.jpg", "droid-cotrack/images/episode_1463/frame_0040.jpg", "droid-cotrack/images/episode_1463/frame_0342.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn off the stove light; Turn off the light above the stove; Turn off the light above the stove.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Turn off the stove light; Turn off the light above the stove; Turn off the light above the stove., execute the following phases: 1) Initial approach phase (start at [0.424, 0.467]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.424, 0.467]). The trajectory involves 343 precise waypoints with total movement distance of 0.143." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1463", "trajectory_length": 343, "key_frame_indices": [ 0, 40, 342 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1463.json" } }, { "id": "droid_cotrack_episode_1312", "task": "Pick the cup on the table; Move the cup slightly backward; Move the cup slightly to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1312/frame_0000.jpg", "droid-cotrack/images/episode_1312/frame_0111.jpg", "droid-cotrack/images/episode_1312/frame_0135.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the cup on the table; Move the cup slightly backward; Move the cup slightly to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Pick the cup on the table; Move the cup slightly backward; Move the cup slightly to the right, execute the following phases: 1) Initial approach phase (start at [0.590, 0.557]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.621, 0.565]). The trajectory involves 136 precise waypoints with total movement distance of 0.110." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1312", "trajectory_length": 136, "key_frame_indices": [ 0, 111, 135 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1312.json" } }, { "id": "droid_cotrack_episode_970", "task": "Pick up the screwdriver and put it in the drawer", "selected_step": 1, "image": [ "droid-cotrack/images/episode_970/frame_0000.jpg", "droid-cotrack/images/episode_970/frame_0192.jpg", "droid-cotrack/images/episode_970/frame_0201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the screwdriver and put it in the drawer?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the screwdriver and put it in the drawer, execute the following phases: 1) Initial approach phase (start at [0.380, 0.342]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.397, 0.356]). The trajectory involves 202 precise waypoints with total movement distance of 0.608." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_970", "trajectory_length": 202, "key_frame_indices": [ 0, 192, 201 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_970.json" } }, { "id": "droid_cotrack_episode_1608", "task": "Put one cup in the silver pot; Place one coffee pod in the silver pot; Put one of the coffee pods in the pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1608/frame_0000.jpg", "droid-cotrack/images/episode_1608/frame_0139.jpg", "droid-cotrack/images/episode_1608/frame_0350.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put one cup in the silver pot; Place one coffee pod in the silver pot; Put one of the coffee pods in the pot?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put one cup in the silver pot; Place one coffee pod in the silver pot; Put one of the coffee pods in the pot, execute the following phases: 1) Initial approach phase (start at [0.471, 0.551]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.467, 0.542]). The trajectory involves 351 precise waypoints with total movement distance of 0.278." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1608", "trajectory_length": 351, "key_frame_indices": [ 0, 139, 350 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1608.json" } }, { "id": "droid_cotrack_episode_4174", "task": "Take the marker out of the cup and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4174/frame_0000.jpg", "droid-cotrack/images/episode_4174/frame_0158.jpg", "droid-cotrack/images/episode_4174/frame_0200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the marker out of the cup and put it on the table?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Take the marker out of the cup and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.491, 0.682]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.707]). The trajectory involves 201 precise waypoints with total movement distance of 0.849." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4174", "trajectory_length": 201, "key_frame_indices": [ 0, 158, 200 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4174.json" } }, { "id": "droid_cotrack_episode_1776", "task": "Turn off the light switch; Flip the light switch down; Turn off the light switch", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1776/frame_0000.jpg", "droid-cotrack/images/episode_1776/frame_0347.jpg", "droid-cotrack/images/episode_1776/frame_0433.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn off the light switch; Flip the light switch down; Turn off the light switch?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Turn off the light switch; Flip the light switch down; Turn off the light switch, execute the following phases: 1) Initial approach phase (start at [0.525, 0.353]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.525, 0.352]). The trajectory involves 434 precise waypoints with total movement distance of 0.224." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1776", "trajectory_length": 434, "key_frame_indices": [ 0, 347, 433 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1776.json" } }, { "id": "droid_cotrack_episode_4250", "task": "Use the grey towel to wipe the tabletop.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4250/frame_0000.jpg", "droid-cotrack/images/episode_4250/frame_0083.jpg", "droid-cotrack/images/episode_4250/frame_0294.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the grey towel to wipe the tabletop.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Use the grey towel to wipe the tabletop., execute the following phases: 1) Initial approach phase (start at [0.576, 0.719]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.655, 0.625]). The trajectory involves 295 precise waypoints with total movement distance of 1.359." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4250", "trajectory_length": 295, "key_frame_indices": [ 0, 83, 294 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4250.json" } }, { "id": "droid_cotrack_episode_1790", "task": "Pick up the object on the right side of the counter and put it on the left; Move the lotion bottle to the left; Move the tube to the left side of the sink", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1790/frame_0000.jpg", "droid-cotrack/images/episode_1790/frame_0159.jpg", "droid-cotrack/images/episode_1790/frame_0230.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the object on the right side of the counter and put it on the left; Move the lotion bottle to the left; Move the tube to the left side of the sink?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the object on the right side of the counter and put it on the left; Move the lotion bottle to the left; Move the tube to the left side of the sink, execute the following phases: 1) Initial approach phase (start at [0.533, 0.055]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.096, 0.140]). The trajectory involves 231 precise waypoints with total movement distance of 0.994." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1790", "trajectory_length": 231, "key_frame_indices": [ 0, 159, 230 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1790.json" } }, { "id": "droid_cotrack_episode_1863", "task": "Put the bottle on the table onto the tray; Pick the bottle on the counter and put it on the tray; Pick up the small bottle on the table and put it in the lower rectangular section", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1863/frame_0000.jpg", "droid-cotrack/images/episode_1863/frame_0089.jpg", "droid-cotrack/images/episode_1863/frame_0117.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the bottle on the table onto the tray; Pick the bottle on the counter and put it on the tray; Pick up the small bottle on the table and put it in the lower rectangular section?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the bottle on the table onto the tray; Pick the bottle on the counter and put it on the tray; Pick up the small bottle on the table and put it in the lower rectangular section, execute the following phases: 1) Initial approach phase (start at [0.683, 0.760]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.679, 0.753]). The trajectory involves 118 precise waypoints with total movement distance of 0.082." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1863", "trajectory_length": 118, "key_frame_indices": [ 0, 89, 117 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1863.json" } }, { "id": "droid_cotrack_episode_1345", "task": "Put the black lid on top of the bottle on the left; Use the lid on the countertop to cover the big bottle; Place the lid on the taller shaker bottle", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1345/frame_0000.jpg", "droid-cotrack/images/episode_1345/frame_0084.jpg", "droid-cotrack/images/episode_1345/frame_0266.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the black lid on top of the bottle on the left; Use the lid on the countertop to cover the big bottle; Place the lid on the taller shaker bottle?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the black lid on top of the bottle on the left; Use the lid on the countertop to cover the big bottle; Place the lid on the taller shaker bottle, execute the following phases: 1) Initial approach phase (start at [0.372, 0.416]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.498, 0.412]). The trajectory involves 267 precise waypoints with total movement distance of 1.052." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1345", "trajectory_length": 267, "key_frame_indices": [ 0, 84, 266 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1345.json" } }, { "id": "droid_cotrack_episode_814", "task": "Move the green cloth slightly to the left on the table; Move the green towel to the left.; Move the green towel to the center of the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_814/frame_0000.jpg", "droid-cotrack/images/episode_814/frame_0086.jpg", "droid-cotrack/images/episode_814/frame_0107.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the green cloth slightly to the left on the table; Move the green towel to the left.; Move the green towel to the center of the table?" }, { "from": "gpt", "value": "To complete this repositioning: Move the green cloth slightly to the left on the table; Move the green towel to the left.; Move the green towel to the center of the table, execute the following phases: 1) Initial approach phase (start at [0.512, 0.589]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.424, 0.534]). The trajectory involves 108 precise waypoints with total movement distance of 0.142." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_814", "trajectory_length": 108, "key_frame_indices": [ 0, 86, 107 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_814.json" } }, { "id": "droid_cotrack_episode_4443", "task": "Push the lever on the toaster downwards", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4443/frame_0000.jpg", "droid-cotrack/images/episode_4443/frame_0058.jpg", "droid-cotrack/images/episode_4443/frame_0102.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the lever on the toaster downwards?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push the lever on the toaster downwards, execute the following phases: 1) Initial approach phase (start at [0.531, 0.399]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.532, 0.396]). The trajectory involves 103 precise waypoints with total movement distance of 0.033." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4443", "trajectory_length": 103, "key_frame_indices": [ 0, 58, 102 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4443.json" } }, { "id": "droid_cotrack_episode_10307", "task": "Unhang the cloth from the stand; Put the towel on the table; Put the cloth on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10307/frame_0000.jpg", "droid-cotrack/images/episode_10307/frame_0092.jpg", "droid-cotrack/images/episode_10307/frame_0115.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unhang the cloth from the stand; Put the towel on the table; Put the cloth on the table?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Unhang the cloth from the stand; Put the towel on the table; Put the cloth on the table, execute the following phases: 1) Initial approach phase (start at [0.652, 0.547]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.399, 0.836]). The trajectory involves 116 precise waypoints with total movement distance of 0.664." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10307", "trajectory_length": 116, "key_frame_indices": [ 0, 92, 115 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10307.json" } }, { "id": "droid_cotrack_episode_4041", "task": "Move the green-white from the left to the right; Move the white and green mug to the right; Move the cup to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4041/frame_0000.jpg", "droid-cotrack/images/episode_4041/frame_0073.jpg", "droid-cotrack/images/episode_4041/frame_0105.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the green-white from the left to the right; Move the white and green mug to the right; Move the cup to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the green-white from the left to the right; Move the white and green mug to the right; Move the cup to the right, execute the following phases: 1) Initial approach phase (start at [0.569, 0.482]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.598, 0.586]). The trajectory involves 106 precise waypoints with total movement distance of 0.237." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4041", "trajectory_length": 106, "key_frame_indices": [ 0, 73, 105 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4041.json" } }, { "id": "droid_cotrack_episode_330", "task": "Take the block on the cap and put it on the square object; Remove the wooden rectangle from the top of the object and put it on top of the cube; Move the rectangular block to the cube", "selected_step": 1, "image": [ "droid-cotrack/images/episode_330/frame_0000.jpg", "droid-cotrack/images/episode_330/frame_0026.jpg", "droid-cotrack/images/episode_330/frame_0166.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the block on the cap and put it on the square object; Remove the wooden rectangle from the top of the object and put it on top of the cube; Move the rectangular block to the cube?" }, { "from": "gpt", "value": "To complete this repositioning: Take the block on the cap and put it on the square object; Remove the wooden rectangle from the top of the object and put it on top of the cube; Move the rectangular block to the cube, execute the following phases: 1) Initial approach phase (start at [0.440, 0.356]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.434, 0.359]). The trajectory involves 167 precise waypoints with total movement distance of 0.046." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_330", "trajectory_length": 167, "key_frame_indices": [ 0, 26, 166 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_330.json" } }, { "id": "droid_cotrack_episode_10018", "task": "Put the rubber band around the jar.; Wrap the elastic over the bottom of the cup.; Place the elastic band around the top part of the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10018/frame_0000.jpg", "droid-cotrack/images/episode_10018/frame_0140.jpg", "droid-cotrack/images/episode_10018/frame_0164.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the rubber band around the jar.; Wrap the elastic over the bottom of the cup.; Place the elastic band around the top part of the cup?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the rubber band around the jar.; Wrap the elastic over the bottom of the cup.; Place the elastic band around the top part of the cup, execute the following phases: 1) Initial approach phase (start at [0.561, 0.528]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.561, 0.528]). The trajectory involves 165 precise waypoints with total movement distance of 0.045." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10018", "trajectory_length": 165, "key_frame_indices": [ 0, 140, 164 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10018.json" } }, { "id": "droid_cotrack_episode_1440", "task": "Remove the shirt from the back of the black chair and put it on the seat; Put the grey shirt on the back of the chair on the seat of the chair; Remove the grey clothing from the backrest of the black chair and place it on the seat of the chair", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1440/frame_0000.jpg", "droid-cotrack/images/episode_1440/frame_0131.jpg", "droid-cotrack/images/episode_1440/frame_0170.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the shirt from the back of the black chair and put it on the seat; Put the grey shirt on the back of the chair on the seat of the chair; Remove the grey clothing from the backrest of the black chair and place it on the seat of the chair?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the shirt from the back of the black chair and put it on the seat; Put the grey shirt on the back of the chair on the seat of the chair; Remove the grey clothing from the backrest of the black chair and place it on the seat of the chair, execute the following phases: 1) Initial approach phase (start at [0.634, 0.451]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.662, 0.450]). The trajectory involves 171 precise waypoints with total movement distance of 0.169." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1440", "trajectory_length": 171, "key_frame_indices": [ 0, 131, 170 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1440.json" } }, { "id": "droid_cotrack_episode_6663", "task": "Pick up the pen from the yellow cup and put it on the table.; Remove the pen from the yellow cup and put it on the table; Remove the pen from the cup and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6663/frame_0000.jpg", "droid-cotrack/images/episode_6663/frame_0155.jpg", "droid-cotrack/images/episode_6663/frame_0168.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the pen from the yellow cup and put it on the table.; Remove the pen from the yellow cup and put it on the table; Remove the pen from the cup and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the pen from the yellow cup and put it on the table.; Remove the pen from the yellow cup and put it on the table; Remove the pen from the cup and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.453, 0.438]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.453, 0.438]). The trajectory involves 169 precise waypoints with total movement distance of 0.047." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6663", "trajectory_length": 169, "key_frame_indices": [ 0, 155, 168 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6663.json" } }, { "id": "droid_cotrack_episode_1001", "task": "Put the tomato inside the silver bowl; Pick the tomato and put it in the bowl; Put the toy tomato in the colourless bow", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1001/frame_0000.jpg", "droid-cotrack/images/episode_1001/frame_0117.jpg", "droid-cotrack/images/episode_1001/frame_0179.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the tomato inside the silver bowl; Pick the tomato and put it in the bowl; Put the toy tomato in the colourless bow?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the tomato inside the silver bowl; Pick the tomato and put it in the bowl; Put the toy tomato in the colourless bow, execute the following phases: 1) Initial approach phase (start at [0.441, 0.579]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.441, 0.577]). The trajectory involves 180 precise waypoints with total movement distance of 0.035." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1001", "trajectory_length": 180, "key_frame_indices": [ 0, 117, 179 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1001.json" } }, { "id": "droid_cotrack_episode_1856", "task": "Put the yellow block in the cup; Put the yellow object inside the cup; Pick up the yellow block from the table and put it in the light blue cup.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1856/frame_0000.jpg", "droid-cotrack/images/episode_1856/frame_0058.jpg", "droid-cotrack/images/episode_1856/frame_0103.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the yellow block in the cup; Put the yellow object inside the cup; Pick up the yellow block from the table and put it in the light blue cup.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the yellow block in the cup; Put the yellow object inside the cup; Pick up the yellow block from the table and put it in the light blue cup., execute the following phases: 1) Initial approach phase (start at [0.511, 0.644]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.508, 0.619]). The trajectory involves 104 precise waypoints with total movement distance of 0.114." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1856", "trajectory_length": 104, "key_frame_indices": [ 0, 58, 103 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1856.json" } }, { "id": "droid_cotrack_episode_6330", "task": "Take the cloth off the countertop shield and put it on the mat; Take the cloth off the countertop shield and put it on the mat; Place the cloth on the purple mat", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6330/frame_0000.jpg", "droid-cotrack/images/episode_6330/frame_0068.jpg", "droid-cotrack/images/episode_6330/frame_0097.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the cloth off the countertop shield and put it on the mat; Take the cloth off the countertop shield and put it on the mat; Place the cloth on the purple mat?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Take the cloth off the countertop shield and put it on the mat; Take the cloth off the countertop shield and put it on the mat; Place the cloth on the purple mat, execute the following phases: 1) Initial approach phase (start at [0.583, 0.330]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.627, 0.792]). The trajectory involves 98 precise waypoints with total movement distance of 0.586." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6330", "trajectory_length": 98, "key_frame_indices": [ 0, 68, 97 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6330.json" } }, { "id": "droid_cotrack_episode_2030", "task": "Put the red marker inside the yellow mug; Put the marker inside the cup; Put the marker inside the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2030/frame_0000.jpg", "droid-cotrack/images/episode_2030/frame_0137.jpg", "droid-cotrack/images/episode_2030/frame_0201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the red marker inside the yellow mug; Put the marker inside the cup; Put the marker inside the cup?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the red marker inside the yellow mug; Put the marker inside the cup; Put the marker inside the cup, execute the following phases: 1) Initial approach phase (start at [0.737, 0.515]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.589, 0.342]). The trajectory involves 202 precise waypoints with total movement distance of 0.419." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2030", "trajectory_length": 202, "key_frame_indices": [ 0, 137, 201 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2030.json" } }, { "id": "droid_cotrack_episode_1190", "task": "Open the white bin; Open the bin; Open the bin", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1190/frame_0000.jpg", "droid-cotrack/images/episode_1190/frame_0120.jpg", "droid-cotrack/images/episode_1190/frame_0151.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the white bin; Open the bin; Open the bin?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the white bin; Open the bin; Open the bin, execute the following phases: 1) Initial approach phase (start at [0.530, 0.831]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.515, 0.831]). The trajectory involves 152 precise waypoints with total movement distance of 0.093." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1190", "trajectory_length": 152, "key_frame_indices": [ 0, 120, 151 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1190.json" } }, { "id": "droid_cotrack_episode_4014", "task": "change the position of object on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4014/frame_0000.jpg", "droid-cotrack/images/episode_4014/frame_0073.jpg", "droid-cotrack/images/episode_4014/frame_0102.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: change the position of object on the table?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: change the position of object on the table, execute the following phases: 1) Initial approach phase (start at [0.531, 0.418]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.511, 0.319]). The trajectory involves 103 precise waypoints with total movement distance of 0.306." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4014", "trajectory_length": 103, "key_frame_indices": [ 0, 73, 102 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4014.json" } }, { "id": "droid_cotrack_episode_4161", "task": "Unfold the towel once from left to right; Unfold the yellow towel once from left to right; Unfold the towel", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4161/frame_0000.jpg", "droid-cotrack/images/episode_4161/frame_0187.jpg", "droid-cotrack/images/episode_4161/frame_0204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the towel once from left to right; Unfold the yellow towel once from left to right; Unfold the towel?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Unfold the towel once from left to right; Unfold the yellow towel once from left to right; Unfold the towel, execute the following phases: 1) Initial approach phase (start at [0.620, 0.710]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.766, 0.585]). The trajectory involves 205 precise waypoints with total movement distance of 0.675." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4161", "trajectory_length": 205, "key_frame_indices": [ 0, 187, 204 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4161.json" } }, { "id": "droid_cotrack_episode_10036", "task": "Wipe the counter with the paper towel", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10036/frame_0000.jpg", "droid-cotrack/images/episode_10036/frame_0296.jpg", "droid-cotrack/images/episode_10036/frame_0337.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Wipe the counter with the paper towel?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Wipe the counter with the paper towel, execute the following phases: 1) Initial approach phase (start at [0.344, 0.830]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.343, 0.837]). The trajectory involves 338 precise waypoints with total movement distance of 0.371." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10036", "trajectory_length": 338, "key_frame_indices": [ 0, 296, 337 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10036.json" } }, { "id": "droid_cotrack_episode_618", "task": "Put the black lid on the gray pot; Cover the pot with the black lid; Put the lid on the pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_618/frame_0000.jpg", "droid-cotrack/images/episode_618/frame_0117.jpg", "droid-cotrack/images/episode_618/frame_0246.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the black lid on the gray pot; Cover the pot with the black lid; Put the lid on the pot?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the black lid on the gray pot; Cover the pot with the black lid; Put the lid on the pot, execute the following phases: 1) Initial approach phase (start at [0.706, 0.455]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.701, 0.358]). The trajectory involves 247 precise waypoints with total movement distance of 0.366." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_618", "trajectory_length": 247, "key_frame_indices": [ 0, 117, 246 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_618.json" } }, { "id": "droid_cotrack_episode_10284", "task": "Move the green bottle, which is in the bag, to the storage bin", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10284/frame_0000.jpg", "droid-cotrack/images/episode_10284/frame_0202.jpg", "droid-cotrack/images/episode_10284/frame_0227.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the green bottle, which is in the bag, to the storage bin?" }, { "from": "gpt", "value": "To complete this repositioning: Move the green bottle, which is in the bag, to the storage bin, execute the following phases: 1) Initial approach phase (start at [0.487, 0.513]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.412, 0.467]). The trajectory involves 228 precise waypoints with total movement distance of 0.925." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10284", "trajectory_length": 228, "key_frame_indices": [ 0, 202, 227 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10284.json" } }, { "id": "droid_cotrack_episode_4460", "task": "Wipe the table with the towel; Wipe the table; Wipe the table using the towel", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4460/frame_0000.jpg", "droid-cotrack/images/episode_4460/frame_0093.jpg", "droid-cotrack/images/episode_4460/frame_0117.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Wipe the table with the towel; Wipe the table; Wipe the table using the towel?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Wipe the table with the towel; Wipe the table; Wipe the table using the towel, execute the following phases: 1) Initial approach phase (start at [0.559, 0.605]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.470, 0.481]). The trajectory involves 118 precise waypoints with total movement distance of 0.827." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4460", "trajectory_length": 118, "key_frame_indices": [ 0, 93, 117 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4460.json" } }, { "id": "droid_cotrack_episode_4309", "task": "Move the grey cup to the front of the table; Move the cup forward; Move the cup backward", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4309/frame_0000.jpg", "droid-cotrack/images/episode_4309/frame_0112.jpg", "droid-cotrack/images/episode_4309/frame_0146.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the grey cup to the front of the table; Move the cup forward; Move the cup backward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the grey cup to the front of the table; Move the cup forward; Move the cup backward, execute the following phases: 1) Initial approach phase (start at [0.547, 0.357]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.585, 0.489]). The trajectory involves 147 precise waypoints with total movement distance of 0.220." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4309", "trajectory_length": 147, "key_frame_indices": [ 0, 112, 146 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4309.json" } }, { "id": "droid_cotrack_episode_1775", "task": "Put the glass lid on the black pot.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1775/frame_0000.jpg", "droid-cotrack/images/episode_1775/frame_0120.jpg", "droid-cotrack/images/episode_1775/frame_0202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the glass lid on the black pot.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the glass lid on the black pot., execute the following phases: 1) Initial approach phase (start at [0.433, 0.447]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.508, 0.444]). The trajectory involves 203 precise waypoints with total movement distance of 0.408." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1775", "trajectory_length": 203, "key_frame_indices": [ 0, 120, 202 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1775.json" } }, { "id": "droid_cotrack_episode_1859", "task": "Move the pink item to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1859/frame_0000.jpg", "droid-cotrack/images/episode_1859/frame_0343.jpg", "droid-cotrack/images/episode_1859/frame_0410.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the pink item to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the pink item to the right, execute the following phases: 1) Initial approach phase (start at [0.462, 0.378]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.528, 0.390]). The trajectory involves 411 precise waypoints with total movement distance of 0.583." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1859", "trajectory_length": 411, "key_frame_indices": [ 0, 343, 410 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1859.json" } }, { "id": "droid_cotrack_episode_1531", "task": "Open the left cabinet door.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1531/frame_0000.jpg", "droid-cotrack/images/episode_1531/frame_0060.jpg", "droid-cotrack/images/episode_1531/frame_0101.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the left cabinet door.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the left cabinet door., execute the following phases: 1) Initial approach phase (start at [0.384, 0.475]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.387, 0.479]). The trajectory involves 102 precise waypoints with total movement distance of 0.036." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1531", "trajectory_length": 102, "key_frame_indices": [ 0, 60, 101 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1531.json" } }, { "id": "droid_cotrack_episode_1911", "task": "Move the brown object to the right; Move the brown object to the right; Move the staple remover to the bottom-right corner of the counter", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1911/frame_0000.jpg", "droid-cotrack/images/episode_1911/frame_0074.jpg", "droid-cotrack/images/episode_1911/frame_0143.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the brown object to the right; Move the brown object to the right; Move the staple remover to the bottom-right corner of the counter?" }, { "from": "gpt", "value": "To complete this repositioning: Move the brown object to the right; Move the brown object to the right; Move the staple remover to the bottom-right corner of the counter, execute the following phases: 1) Initial approach phase (start at [0.323, 0.133]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.332, -0.204]). The trajectory involves 144 precise waypoints with total movement distance of 0.465." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1911", "trajectory_length": 144, "key_frame_indices": [ 0, 74, 143 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1911.json" } }, { "id": "droid_cotrack_episode_4054", "task": "Close the top drawer on the left; Close the top drawer on the grey filing cabinet; Close the upper open drawer", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4054/frame_0000.jpg", "droid-cotrack/images/episode_4054/frame_0061.jpg", "droid-cotrack/images/episode_4054/frame_0068.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the top drawer on the left; Close the top drawer on the grey filing cabinet; Close the upper open drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the top drawer on the left; Close the top drawer on the grey filing cabinet; Close the upper open drawer, execute the following phases: 1) Initial approach phase (start at [0.527, 0.729]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.331, 0.727]). The trajectory involves 69 precise waypoints with total movement distance of 0.225." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4054", "trajectory_length": 69, "key_frame_indices": [ 0, 61, 68 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4054.json" } }, { "id": "droid_cotrack_episode_4380", "task": "Switch on the digital scale; Press the button on the scale; Switch on the digital scale", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4380/frame_0000.jpg", "droid-cotrack/images/episode_4380/frame_0050.jpg", "droid-cotrack/images/episode_4380/frame_0260.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Switch on the digital scale; Press the button on the scale; Switch on the digital scale?" }, { "from": "gpt", "value": "To complete this button/switch activation: Switch on the digital scale; Press the button on the scale; Switch on the digital scale, execute the following phases: 1) Initial approach phase (start at [0.730, 0.512]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.729, 0.513]). The trajectory involves 261 precise waypoints with total movement distance of 0.050." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4380", "trajectory_length": 261, "key_frame_indices": [ 0, 50, 260 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4380.json" } }, { "id": "droid_cotrack_episode_1515", "task": "Move the cone shaped object backward from the left side of the table; Move the cone to the right; Move the brown object to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1515/frame_0000.jpg", "droid-cotrack/images/episode_1515/frame_0079.jpg", "droid-cotrack/images/episode_1515/frame_0122.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cone shaped object backward from the left side of the table; Move the cone to the right; Move the brown object to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cone shaped object backward from the left side of the table; Move the cone to the right; Move the brown object to the right, execute the following phases: 1) Initial approach phase (start at [0.393, 0.362]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.380, 0.470]). The trajectory involves 123 precise waypoints with total movement distance of 0.321." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1515", "trajectory_length": 123, "key_frame_indices": [ 0, 79, 122 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1515.json" } }, { "id": "droid_cotrack_episode_10248", "task": "Remove the object from the bowl and placing it on the counter", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10248/frame_0000.jpg", "droid-cotrack/images/episode_10248/frame_0052.jpg", "droid-cotrack/images/episode_10248/frame_0177.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the object from the bowl and placing it on the counter?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the object from the bowl and placing it on the counter, execute the following phases: 1) Initial approach phase (start at [0.413, 0.529]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.413, 0.528]). The trajectory involves 178 precise waypoints with total movement distance of 0.081." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10248", "trajectory_length": 178, "key_frame_indices": [ 0, 52, 177 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10248.json" } }, { "id": "droid_cotrack_episode_1702", "task": "Put the snack packet into the kitchen cabinet", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1702/frame_0000.jpg", "droid-cotrack/images/episode_1702/frame_0263.jpg", "droid-cotrack/images/episode_1702/frame_0400.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the snack packet into the kitchen cabinet?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the snack packet into the kitchen cabinet, execute the following phases: 1) Initial approach phase (start at [0.387, 0.782]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.402, 0.247]). The trajectory involves 401 precise waypoints with total movement distance of 1.326." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1702", "trajectory_length": 401, "key_frame_indices": [ 0, 263, 400 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1702.json" } }, { "id": "droid_cotrack_episode_6373", "task": "Pick up the orange object and put it in the bowl.; Place the object into the black bowl; Take the wrench out of the toolbox and put it in the bowl.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6373/frame_0000.jpg", "droid-cotrack/images/episode_6373/frame_0087.jpg", "droid-cotrack/images/episode_6373/frame_0099.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the orange object and put it in the bowl.; Place the object into the black bowl; Take the wrench out of the toolbox and put it in the bowl.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the orange object and put it in the bowl.; Place the object into the black bowl; Take the wrench out of the toolbox and put it in the bowl., execute the following phases: 1) Initial approach phase (start at [0.663, 0.648]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.570, 0.714]). The trajectory involves 100 precise waypoints with total movement distance of 0.632." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6373", "trajectory_length": 100, "key_frame_indices": [ 0, 87, 99 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6373.json" } }, { "id": "droid_cotrack_episode_2095", "task": "Move the cup to the left; Move the clear cup to the left; Move the cup to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2095/frame_0000.jpg", "droid-cotrack/images/episode_2095/frame_0112.jpg", "droid-cotrack/images/episode_2095/frame_0200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup to the left; Move the clear cup to the left; Move the cup to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup to the left; Move the clear cup to the left; Move the cup to the left, execute the following phases: 1) Initial approach phase (start at [0.589, 0.630]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.592, 0.627]). The trajectory involves 201 precise waypoints with total movement distance of 0.100." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2095", "trajectory_length": 201, "key_frame_indices": [ 0, 112, 200 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2095.json" } }, { "id": "droid_cotrack_episode_1871", "task": "Use the green spoon to put some of the contents of the clear lunchbox into the white bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1871/frame_0000.jpg", "droid-cotrack/images/episode_1871/frame_0248.jpg", "droid-cotrack/images/episode_1871/frame_0298.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the green spoon to put some of the contents of the clear lunchbox into the white bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Use the green spoon to put some of the contents of the clear lunchbox into the white bowl, execute the following phases: 1) Initial approach phase (start at [0.613, 0.496]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.552, 0.481]). The trajectory involves 299 precise waypoints with total movement distance of 0.662." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1871", "trajectory_length": 299, "key_frame_indices": [ 0, 248, 298 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1871.json" } }, { "id": "droid_cotrack_episode_1464", "task": "Pick up the grey clothing from the bin and hang it on the back of the chair; Remove the black cloth from the basket and hang it on the chair; Place black cloth onto the chair", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1464/frame_0000.jpg", "droid-cotrack/images/episode_1464/frame_0098.jpg", "droid-cotrack/images/episode_1464/frame_0177.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the grey clothing from the bin and hang it on the back of the chair; Remove the black cloth from the basket and hang it on the chair; Place black cloth onto the chair?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the grey clothing from the bin and hang it on the back of the chair; Remove the black cloth from the basket and hang it on the chair; Place black cloth onto the chair, execute the following phases: 1) Initial approach phase (start at [0.513, 0.647]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.480, 0.581]). The trajectory involves 178 precise waypoints with total movement distance of 0.383." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1464", "trajectory_length": 178, "key_frame_indices": [ 0, 98, 177 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1464.json" } }, { "id": "droid_cotrack_episode_6245", "task": "Put the marker in the cup; Pick up the marker pen from the table and put it in the cup.; Put the marker inside the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6245/frame_0000.jpg", "droid-cotrack/images/episode_6245/frame_0090.jpg", "droid-cotrack/images/episode_6245/frame_0137.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the cup; Pick up the marker pen from the table and put it in the cup.; Put the marker inside the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the marker in the cup; Pick up the marker pen from the table and put it in the cup.; Put the marker inside the cup, execute the following phases: 1) Initial approach phase (start at [0.606, 0.786]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.722, 0.579]). The trajectory involves 138 precise waypoints with total movement distance of 0.461." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6245", "trajectory_length": 138, "key_frame_indices": [ 0, 90, 137 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6245.json" } }, { "id": "droid_cotrack_episode_4393", "task": "Use the white towel to wipe the white bowl; Use the white towel to wipe the white bowl; Pick up the towel and clean the gray bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4393/frame_0000.jpg", "droid-cotrack/images/episode_4393/frame_0220.jpg", "droid-cotrack/images/episode_4393/frame_0299.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the white towel to wipe the white bowl; Use the white towel to wipe the white bowl; Pick up the towel and clean the gray bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Use the white towel to wipe the white bowl; Use the white towel to wipe the white bowl; Pick up the towel and clean the gray bowl, execute the following phases: 1) Initial approach phase (start at [0.318, 0.819]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.319, 0.814]). The trajectory involves 300 precise waypoints with total movement distance of 1.515." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4393", "trajectory_length": 300, "key_frame_indices": [ 0, 220, 299 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4393.json" } }, { "id": "droid_cotrack_episode_1855", "task": "Straighten the charging cable.; Move the white cable to the right; Pull the cable of the charger into the couch", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1855/frame_0000.jpg", "droid-cotrack/images/episode_1855/frame_0022.jpg", "droid-cotrack/images/episode_1855/frame_0182.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Straighten the charging cable.; Move the white cable to the right; Pull the cable of the charger into the couch?" }, { "from": "gpt", "value": "To complete this repositioning: Straighten the charging cable.; Move the white cable to the right; Pull the cable of the charger into the couch, execute the following phases: 1) Initial approach phase (start at [0.408, 0.864]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.408, 0.867]). The trajectory involves 183 precise waypoints with total movement distance of 0.127." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1855", "trajectory_length": 183, "key_frame_indices": [ 0, 22, 182 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1855.json" } }, { "id": "droid_cotrack_episode_6071", "task": "Move the white cup; Move the cup to the right; Move the cup to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6071/frame_0000.jpg", "droid-cotrack/images/episode_6071/frame_0068.jpg", "droid-cotrack/images/episode_6071/frame_0123.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the white cup; Move the cup to the right; Move the cup to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the white cup; Move the cup to the right; Move the cup to the right, execute the following phases: 1) Initial approach phase (start at [0.526, 0.466]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.530, 0.502]). The trajectory involves 124 precise waypoints with total movement distance of 0.186." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6071", "trajectory_length": 124, "key_frame_indices": [ 0, 68, 123 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6071.json" } }, { "id": "droid_cotrack_episode_535", "task": "Open the door of the base cabinet; Open the left cabinet door; Open the left door of the bottom cabinet", "selected_step": 1, "image": [ "droid-cotrack/images/episode_535/frame_0000.jpg", "droid-cotrack/images/episode_535/frame_0111.jpg", "droid-cotrack/images/episode_535/frame_0134.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the door of the base cabinet; Open the left cabinet door; Open the left door of the bottom cabinet?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the door of the base cabinet; Open the left cabinet door; Open the left door of the bottom cabinet, execute the following phases: 1) Initial approach phase (start at [0.569, 0.708]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.569, 0.710]). The trajectory involves 135 precise waypoints with total movement distance of 0.058." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_535", "trajectory_length": 135, "key_frame_indices": [ 0, 111, 134 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_535.json" } }, { "id": "droid_cotrack_episode_4486", "task": "Remove the plate from the dishwasher; Pick up the plate from the utensil holder and put it on the kitchen base top; Remove the plate from the dishwasher and put it on the counter", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4486/frame_0000.jpg", "droid-cotrack/images/episode_4486/frame_0023.jpg", "droid-cotrack/images/episode_4486/frame_0259.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the plate from the dishwasher; Pick up the plate from the utensil holder and put it on the kitchen base top; Remove the plate from the dishwasher and put it on the counter?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Remove the plate from the dishwasher; Pick up the plate from the utensil holder and put it on the kitchen base top; Remove the plate from the dishwasher and put it on the counter, execute the following phases: 1) Initial approach phase (start at [0.531, 0.729]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.443, 0.594]). The trajectory involves 260 precise waypoints with total movement distance of 1.321." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4486", "trajectory_length": 260, "key_frame_indices": [ 0, 23, 259 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4486.json" } }, { "id": "droid_cotrack_episode_2061", "task": "Put the orange building block in the brown bowl; Put the orange block in the bowl; Place the red block inside the wooden bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2061/frame_0000.jpg", "droid-cotrack/images/episode_2061/frame_0074.jpg", "droid-cotrack/images/episode_2061/frame_0093.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange building block in the brown bowl; Put the orange block in the bowl; Place the red block inside the wooden bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the orange building block in the brown bowl; Put the orange block in the bowl; Place the red block inside the wooden bowl, execute the following phases: 1) Initial approach phase (start at [0.683, 0.548]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.591, 0.422]). The trajectory involves 94 precise waypoints with total movement distance of 0.339." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2061", "trajectory_length": 94, "key_frame_indices": [ 0, 74, 93 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2061.json" } }, { "id": "droid_cotrack_episode_6284", "task": "Remove the marker from the mug", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6284/frame_0000.jpg", "droid-cotrack/images/episode_6284/frame_0464.jpg", "droid-cotrack/images/episode_6284/frame_0497.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker from the mug?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the marker from the mug, execute the following phases: 1) Initial approach phase (start at [0.420, 0.383]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.628, 0.627]). The trajectory involves 498 precise waypoints with total movement distance of 0.870." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6284", "trajectory_length": 498, "key_frame_indices": [ 0, 464, 497 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6284.json" } }, { "id": "droid_cotrack_episode_1108", "task": "Attach a three piece yellow Lego to the stack of Legos; Move one yellow block to the right; Pick up the yellow block in the middle and place it on the stacked blocks on the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1108/frame_0000.jpg", "droid-cotrack/images/episode_1108/frame_0481.jpg", "droid-cotrack/images/episode_1108/frame_0608.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Attach a three piece yellow Lego to the stack of Legos; Move one yellow block to the right; Pick up the yellow block in the middle and place it on the stacked blocks on the right?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Attach a three piece yellow Lego to the stack of Legos; Move one yellow block to the right; Pick up the yellow block in the middle and place it on the stacked blocks on the right, execute the following phases: 1) Initial approach phase (start at [0.556, 0.650]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.468, 0.455]). The trajectory involves 609 precise waypoints with total movement distance of 1.199." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1108", "trajectory_length": 609, "key_frame_indices": [ 0, 481, 608 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1108.json" } }, { "id": "droid_cotrack_episode_6181", "task": "Stack the small cylinder on top of the cube square", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6181/frame_0000.jpg", "droid-cotrack/images/episode_6181/frame_0096.jpg", "droid-cotrack/images/episode_6181/frame_0160.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Stack the small cylinder on top of the cube square?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Stack the small cylinder on top of the cube square, execute the following phases: 1) Initial approach phase (start at [0.633, 0.504]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.631, 0.509]). The trajectory involves 161 precise waypoints with total movement distance of 0.053." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6181", "trajectory_length": 161, "key_frame_indices": [ 0, 96, 160 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6181.json" } }, { "id": "droid_cotrack_episode_2145", "task": "Pick up the marker from the cup and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2145/frame_0000.jpg", "droid-cotrack/images/episode_2145/frame_0162.jpg", "droid-cotrack/images/episode_2145/frame_0211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the marker from the cup and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the marker from the cup and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.387, 0.520]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.483, 0.699]). The trajectory involves 212 precise waypoints with total movement distance of 0.730." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2145", "trajectory_length": 212, "key_frame_indices": [ 0, 162, 211 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2145.json" } }, { "id": "droid_cotrack_episode_1286", "task": "Pick up the bowl from the table and pour it's contents in the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1286/frame_0000.jpg", "droid-cotrack/images/episode_1286/frame_0439.jpg", "droid-cotrack/images/episode_1286/frame_0460.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the bowl from the table and pour it's contents in the cup?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Pick up the bowl from the table and pour it's contents in the cup, execute the following phases: 1) Initial approach phase (start at [0.412, 0.548]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.366, 0.611]). The trajectory involves 461 precise waypoints with total movement distance of 0.855." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1286", "trajectory_length": 461, "key_frame_indices": [ 0, 439, 460 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1286.json" } }, { "id": "droid_cotrack_episode_6058", "task": "Put the block in the bowl; Pick up the green block and put it in the bowl; Put the green block in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6058/frame_0000.jpg", "droid-cotrack/images/episode_6058/frame_0039.jpg", "droid-cotrack/images/episode_6058/frame_0095.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the block in the bowl; Pick up the green block and put it in the bowl; Put the green block in the bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the block in the bowl; Pick up the green block and put it in the bowl; Put the green block in the bowl, execute the following phases: 1) Initial approach phase (start at [0.738, 0.919]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.738, 0.918]). The trajectory involves 96 precise waypoints with total movement distance of 0.044." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6058", "trajectory_length": 96, "key_frame_indices": [ 0, 39, 95 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6058.json" } }, { "id": "droid_cotrack_episode_10126", "task": "Move the glass jar inside the dishwasher to the left; Move the glass jar to the left side of the dishwasher; Move the cup to the left of the utensil holder", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10126/frame_0000.jpg", "droid-cotrack/images/episode_10126/frame_0084.jpg", "droid-cotrack/images/episode_10126/frame_0164.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the glass jar inside the dishwasher to the left; Move the glass jar to the left side of the dishwasher; Move the cup to the left of the utensil holder?" }, { "from": "gpt", "value": "To complete this repositioning: Move the glass jar inside the dishwasher to the left; Move the glass jar to the left side of the dishwasher; Move the cup to the left of the utensil holder, execute the following phases: 1) Initial approach phase (start at [0.473, 0.792]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.475, 0.793]). The trajectory involves 165 precise waypoints with total movement distance of 0.062." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10126", "trajectory_length": 165, "key_frame_indices": [ 0, 84, 164 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10126.json" } }, { "id": "droid_cotrack_episode_2090", "task": "Remove the t-shirt from the couch and put it on the armrest of the chair; Remove the t-shirt from the couch and put it on the armrest of the chair; Remove the grey clothing from the sofa and hang it on the left armrest of the black chair", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2090/frame_0000.jpg", "droid-cotrack/images/episode_2090/frame_0322.jpg", "droid-cotrack/images/episode_2090/frame_0345.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the t-shirt from the couch and put it on the armrest of the chair; Remove the t-shirt from the couch and put it on the armrest of the chair; Remove the grey clothing from the sofa and hang it on the left armrest of the black chair?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the t-shirt from the couch and put it on the armrest of the chair; Remove the t-shirt from the couch and put it on the armrest of the chair; Remove the grey clothing from the sofa and hang it on the left armrest of the black chair, execute the following phases: 1) Initial approach phase (start at [0.541, 0.362]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.541, 0.565]). The trajectory involves 346 precise waypoints with total movement distance of 1.590." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2090", "trajectory_length": 346, "key_frame_indices": [ 0, 322, 345 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2090.json" } }, { "id": "droid_cotrack_episode_673", "task": "Open the top part of the coffee maker; Open the coffee machine chamber; Open the chamber of the grey coffeemaker", "selected_step": 1, "image": [ "droid-cotrack/images/episode_673/frame_0000.jpg", "droid-cotrack/images/episode_673/frame_0208.jpg", "droid-cotrack/images/episode_673/frame_0287.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the top part of the coffee maker; Open the coffee machine chamber; Open the chamber of the grey coffeemaker?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the top part of the coffee maker; Open the coffee machine chamber; Open the chamber of the grey coffeemaker, execute the following phases: 1) Initial approach phase (start at [0.497, 0.288]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.494, 0.281]). The trajectory involves 288 precise waypoints with total movement distance of 0.251." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_673", "trajectory_length": 288, "key_frame_indices": [ 0, 208, 287 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_673.json" } }, { "id": "droid_cotrack_episode_10251", "task": "Push the toaster lever down", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10251/frame_0000.jpg", "droid-cotrack/images/episode_10251/frame_0075.jpg", "droid-cotrack/images/episode_10251/frame_0098.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the toaster lever down?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push the toaster lever down, execute the following phases: 1) Initial approach phase (start at [0.633, 0.603]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.634, 0.600]). The trajectory involves 99 precise waypoints with total movement distance of 0.038." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10251", "trajectory_length": 99, "key_frame_indices": [ 0, 75, 98 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10251.json" } }, { "id": "droid_cotrack_episode_6806", "task": "Move the brown object to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6806/frame_0000.jpg", "droid-cotrack/images/episode_6806/frame_0029.jpg", "droid-cotrack/images/episode_6806/frame_0106.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the brown object to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the brown object to the left, execute the following phases: 1) Initial approach phase (start at [0.421, 0.109]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.526, 0.162]). The trajectory involves 107 precise waypoints with total movement distance of 1.333." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6806", "trajectory_length": 107, "key_frame_indices": [ 0, 29, 106 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6806.json" } }, { "id": "droid_cotrack_episode_892", "task": "Move the cup slightly to the left; Move the mug forward slightly; Move the mug forward", "selected_step": 1, "image": [ "droid-cotrack/images/episode_892/frame_0000.jpg", "droid-cotrack/images/episode_892/frame_0156.jpg", "droid-cotrack/images/episode_892/frame_0246.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup slightly to the left; Move the mug forward slightly; Move the mug forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup slightly to the left; Move the mug forward slightly; Move the mug forward, execute the following phases: 1) Initial approach phase (start at [0.519, 0.324]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.522, 0.321]). The trajectory involves 247 precise waypoints with total movement distance of 0.121." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_892", "trajectory_length": 247, "key_frame_indices": [ 0, 156, 246 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_892.json" } }, { "id": "droid_cotrack_episode_6631", "task": "Open the coffee maker; Open the coffeemaker chamber; Open the coffee maker", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6631/frame_0000.jpg", "droid-cotrack/images/episode_6631/frame_0074.jpg", "droid-cotrack/images/episode_6631/frame_0113.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the coffee maker; Open the coffeemaker chamber; Open the coffee maker?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the coffee maker; Open the coffeemaker chamber; Open the coffee maker, execute the following phases: 1) Initial approach phase (start at [0.520, 0.337]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.513, 0.328]). The trajectory involves 114 precise waypoints with total movement distance of 0.275." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6631", "trajectory_length": 114, "key_frame_indices": [ 0, 74, 113 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6631.json" } }, { "id": "droid_cotrack_episode_1082", "task": "Pick up the lid and close the pot; Cover the pot with the clear lid; Cover the pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1082/frame_0000.jpg", "droid-cotrack/images/episode_1082/frame_0147.jpg", "droid-cotrack/images/episode_1082/frame_0220.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the lid and close the pot; Cover the pot with the clear lid; Cover the pot?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Pick up the lid and close the pot; Cover the pot with the clear lid; Cover the pot, execute the following phases: 1) Initial approach phase (start at [0.504, 0.644]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.657, 0.475]). The trajectory involves 221 precise waypoints with total movement distance of 0.459." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1082", "trajectory_length": 221, "key_frame_indices": [ 0, 147, 220 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1082.json" } }, { "id": "droid_cotrack_episode_1253", "task": "Put the orange plate on top of the coffeemaker.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1253/frame_0000.jpg", "droid-cotrack/images/episode_1253/frame_0240.jpg", "droid-cotrack/images/episode_1253/frame_0352.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange plate on top of the coffeemaker.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the orange plate on top of the coffeemaker., execute the following phases: 1) Initial approach phase (start at [0.474, 0.610]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.510, 0.243]). The trajectory involves 353 precise waypoints with total movement distance of 0.848." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1253", "trajectory_length": 353, "key_frame_indices": [ 0, 240, 352 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1253.json" } }, { "id": "droid_cotrack_episode_4330", "task": "Remove the yellow object from the yellow cup and put it on the table; Remove the glue stick from the mug cup and place it on the table; Take the bottle out of the mug and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4330/frame_0000.jpg", "droid-cotrack/images/episode_4330/frame_0085.jpg", "droid-cotrack/images/episode_4330/frame_0117.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the yellow object from the yellow cup and put it on the table; Remove the glue stick from the mug cup and place it on the table; Take the bottle out of the mug and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the yellow object from the yellow cup and put it on the table; Remove the glue stick from the mug cup and place it on the table; Take the bottle out of the mug and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.577, 0.351]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.869, 0.524]). The trajectory involves 118 precise waypoints with total movement distance of 0.831." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4330", "trajectory_length": 118, "key_frame_indices": [ 0, 85, 117 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4330.json" } }, { "id": "droid_cotrack_episode_4527", "task": "Put the serving spoon on the countertop", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4527/frame_0000.jpg", "droid-cotrack/images/episode_4527/frame_0118.jpg", "droid-cotrack/images/episode_4527/frame_0188.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the serving spoon on the countertop?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the serving spoon on the countertop, execute the following phases: 1) Initial approach phase (start at [0.668, 0.114]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.897, 0.436]). The trajectory involves 189 precise waypoints with total movement distance of 1.275." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4527", "trajectory_length": 189, "key_frame_indices": [ 0, 118, 188 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4527.json" } }, { "id": "droid_cotrack_episode_871", "task": "Put the blue bowl on the right side of the stovetop.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_871/frame_0000.jpg", "droid-cotrack/images/episode_871/frame_0070.jpg", "droid-cotrack/images/episode_871/frame_0139.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the blue bowl on the right side of the stovetop.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the blue bowl on the right side of the stovetop., execute the following phases: 1) Initial approach phase (start at [0.477, 0.831]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.614, 0.696]). The trajectory involves 140 precise waypoints with total movement distance of 0.558." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_871", "trajectory_length": 140, "key_frame_indices": [ 0, 70, 139 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_871.json" } }, { "id": "droid_cotrack_episode_4431", "task": "Put the orange bowl near the pink mug; Move the orange bowl downwards; Put the orange next to the pink mug", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4431/frame_0000.jpg", "droid-cotrack/images/episode_4431/frame_0024.jpg", "droid-cotrack/images/episode_4431/frame_0102.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange bowl near the pink mug; Move the orange bowl downwards; Put the orange next to the pink mug?" }, { "from": "gpt", "value": "To complete this repositioning: Put the orange bowl near the pink mug; Move the orange bowl downwards; Put the orange next to the pink mug, execute the following phases: 1) Initial approach phase (start at [0.710, 0.116]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.501, 0.167]). The trajectory involves 103 precise waypoints with total movement distance of 1.067." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4431", "trajectory_length": 103, "key_frame_indices": [ 0, 24, 102 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4431.json" } }, { "id": "droid_cotrack_episode_6685", "task": "Put the rubrik's cube inside the black box; Put the Rubik's cube in the black box; Put the large Rubik's cube inside the black box", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6685/frame_0000.jpg", "droid-cotrack/images/episode_6685/frame_0168.jpg", "droid-cotrack/images/episode_6685/frame_0185.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the rubrik's cube inside the black box; Put the Rubik's cube in the black box; Put the large Rubik's cube inside the black box?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the rubrik's cube inside the black box; Put the Rubik's cube in the black box; Put the large Rubik's cube inside the black box, execute the following phases: 1) Initial approach phase (start at [0.672, 0.545]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.586, 0.472]). The trajectory involves 186 precise waypoints with total movement distance of 0.402." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6685", "trajectory_length": 186, "key_frame_indices": [ 0, 168, 185 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6685.json" } }, { "id": "droid_cotrack_episode_4237", "task": "Move the square block forward; Move the cube to the left; Move the object", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4237/frame_0000.jpg", "droid-cotrack/images/episode_4237/frame_0079.jpg", "droid-cotrack/images/episode_4237/frame_0119.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the square block forward; Move the cube to the left; Move the object?" }, { "from": "gpt", "value": "To complete this repositioning: Move the square block forward; Move the cube to the left; Move the object, execute the following phases: 1) Initial approach phase (start at [0.495, 0.411]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.313, 0.451]). The trajectory involves 120 precise waypoints with total movement distance of 0.561." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4237", "trajectory_length": 120, "key_frame_indices": [ 0, 79, 119 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4237.json" } }, { "id": "droid_cotrack_episode_10073", "task": "Push a button on the board; Press the button on the back left on the board; Push the red button on the board", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10073/frame_0000.jpg", "droid-cotrack/images/episode_10073/frame_0284.jpg", "droid-cotrack/images/episode_10073/frame_0288.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push a button on the board; Press the button on the back left on the board; Push the red button on the board?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push a button on the board; Press the button on the back left on the board; Push the red button on the board, execute the following phases: 1) Initial approach phase (start at [0.689, 0.658]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.689, 0.657]). The trajectory involves 289 precise waypoints with total movement distance of 0.071." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10073", "trajectory_length": 289, "key_frame_indices": [ 0, 284, 288 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10073.json" } }, { "id": "droid_cotrack_episode_4121", "task": "Click on the mouse; Left-click the computer mouse; Press the button on the black object", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4121/frame_0000.jpg", "droid-cotrack/images/episode_4121/frame_0010.jpg", "droid-cotrack/images/episode_4121/frame_0099.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Click on the mouse; Left-click the computer mouse; Press the button on the black object?" }, { "from": "gpt", "value": "To complete this button/switch activation: Click on the mouse; Left-click the computer mouse; Press the button on the black object, execute the following phases: 1) Initial approach phase (start at [0.602, 0.758]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.600, 0.758]). The trajectory involves 100 precise waypoints with total movement distance of 0.035." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4121", "trajectory_length": 100, "key_frame_indices": [ 0, 10, 99 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4121.json" } }, { "id": "droid_cotrack_episode_1148", "task": "Put the marker in the cabinet; Pick up the brush and put it in the top cabinet; Put the marker inside the cupboard", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1148/frame_0000.jpg", "droid-cotrack/images/episode_1148/frame_0110.jpg", "droid-cotrack/images/episode_1148/frame_0350.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the cabinet; Pick up the brush and put it in the top cabinet; Put the marker inside the cupboard?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the marker in the cabinet; Pick up the brush and put it in the top cabinet; Put the marker inside the cupboard, execute the following phases: 1) Initial approach phase (start at [0.448, 0.430]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.449, 0.431]). The trajectory involves 351 precise waypoints with total movement distance of 0.111." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1148", "trajectory_length": 351, "key_frame_indices": [ 0, 110, 350 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1148.json" } }, { "id": "droid_cotrack_episode_285", "task": "Put the rubik's cube on the top of the shelf; Put the Rubik's cube on top of the shelf; Put the rubik's cube on the top of the shelf", "selected_step": 1, "image": [ "droid-cotrack/images/episode_285/frame_0000.jpg", "droid-cotrack/images/episode_285/frame_0098.jpg", "droid-cotrack/images/episode_285/frame_0138.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the rubik's cube on the top of the shelf; Put the Rubik's cube on top of the shelf; Put the rubik's cube on the top of the shelf?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the rubik's cube on the top of the shelf; Put the Rubik's cube on top of the shelf; Put the rubik's cube on the top of the shelf, execute the following phases: 1) Initial approach phase (start at [0.622, 0.414]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.639, 0.130]). The trajectory involves 139 precise waypoints with total movement distance of 0.686." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_285", "trajectory_length": 139, "key_frame_indices": [ 0, 98, 138 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_285.json" } }, { "id": "droid_cotrack_episode_4549", "task": "Put the stack of coffee cups onto the bigger stack on the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4549/frame_0000.jpg", "droid-cotrack/images/episode_4549/frame_0160.jpg", "droid-cotrack/images/episode_4549/frame_0184.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the stack of coffee cups onto the bigger stack on the right?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the stack of coffee cups onto the bigger stack on the right, execute the following phases: 1) Initial approach phase (start at [0.595, 0.470]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.663, 0.278]). The trajectory involves 185 precise waypoints with total movement distance of 0.541." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4549", "trajectory_length": 185, "key_frame_indices": [ 0, 160, 184 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4549.json" } }, { "id": "droid_cotrack_episode_1242", "task": "Pull the colourless bucket forward; Pull the open bucket forwards; Slide the box out of the shelf", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1242/frame_0000.jpg", "droid-cotrack/images/episode_1242/frame_0160.jpg", "droid-cotrack/images/episode_1242/frame_0192.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pull the colourless bucket forward; Pull the open bucket forwards; Slide the box out of the shelf?" }, { "from": "gpt", "value": "To complete this repositioning: Pull the colourless bucket forward; Pull the open bucket forwards; Slide the box out of the shelf, execute the following phases: 1) Initial approach phase (start at [0.435, 0.565]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.473, 0.563]). The trajectory involves 193 precise waypoints with total movement distance of 0.150." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1242", "trajectory_length": 193, "key_frame_indices": [ 0, 160, 192 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1242.json" } }, { "id": "droid_cotrack_episode_6003", "task": "Put the shaker in the metal bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6003/frame_0000.jpg", "droid-cotrack/images/episode_6003/frame_0062.jpg", "droid-cotrack/images/episode_6003/frame_0092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the shaker in the metal bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the shaker in the metal bowl, execute the following phases: 1) Initial approach phase (start at [0.587, 0.459]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.644, 0.381]). The trajectory involves 93 precise waypoints with total movement distance of 0.343." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6003", "trajectory_length": 93, "key_frame_indices": [ 0, 62, 92 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6003.json" } }, { "id": "droid_cotrack_episode_1411", "task": "Put the marker in the mug; Put the marker in the mug; Put the blue marker in the white and green mug", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1411/frame_0000.jpg", "droid-cotrack/images/episode_1411/frame_0103.jpg", "droid-cotrack/images/episode_1411/frame_0137.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the mug; Put the marker in the mug; Put the blue marker in the white and green mug?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the marker in the mug; Put the marker in the mug; Put the blue marker in the white and green mug, execute the following phases: 1) Initial approach phase (start at [0.698, 0.542]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.545, 0.443]). The trajectory involves 138 precise waypoints with total movement distance of 0.435." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1411", "trajectory_length": 138, "key_frame_indices": [ 0, 103, 137 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1411.json" } }, { "id": "droid_cotrack_episode_6179", "task": "Take the lid off the black pot and put it on the counter; Remove the lid from the black pot; Remove the lid from the black pot and place it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6179/frame_0000.jpg", "droid-cotrack/images/episode_6179/frame_0353.jpg", "droid-cotrack/images/episode_6179/frame_0354.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the lid off the black pot and put it on the counter; Remove the lid from the black pot; Remove the lid from the black pot and place it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Take the lid off the black pot and put it on the counter; Remove the lid from the black pot; Remove the lid from the black pot and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.422, 0.567]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.423, 0.574]). The trajectory involves 355 precise waypoints with total movement distance of 0.163." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6179", "trajectory_length": 355, "key_frame_indices": [ 0, 353, 354 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6179.json" } }, { "id": "droid_cotrack_episode_1287", "task": "Remove the wrench from the toolbox and place it in the blue cup on the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1287/frame_0000.jpg", "droid-cotrack/images/episode_1287/frame_0088.jpg", "droid-cotrack/images/episode_1287/frame_0111.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the wrench from the toolbox and place it in the blue cup on the right?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the wrench from the toolbox and place it in the blue cup on the right, execute the following phases: 1) Initial approach phase (start at [0.675, 0.567]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.703, 0.544]). The trajectory involves 112 precise waypoints with total movement distance of 0.504." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1287", "trajectory_length": 112, "key_frame_indices": [ 0, 88, 111 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1287.json" } }, { "id": "droid_cotrack_episode_4400", "task": "Turn off the air fryer; Press the switch of the object that is on the left side of the electric kettle; Turn off the air fryer", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4400/frame_0000.jpg", "droid-cotrack/images/episode_4400/frame_0089.jpg", "droid-cotrack/images/episode_4400/frame_0174.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn off the air fryer; Press the switch of the object that is on the left side of the electric kettle; Turn off the air fryer?" }, { "from": "gpt", "value": "To complete this button/switch activation: Turn off the air fryer; Press the switch of the object that is on the left side of the electric kettle; Turn off the air fryer, execute the following phases: 1) Initial approach phase (start at [0.584, 0.543]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.585, 0.542]). The trajectory involves 175 precise waypoints with total movement distance of 0.122." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4400", "trajectory_length": 175, "key_frame_indices": [ 0, 89, 174 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4400.json" } }, { "id": "droid_cotrack_episode_1540", "task": "Move the basket to the right; Move the box to the right; Move the box from the left to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1540/frame_0000.jpg", "droid-cotrack/images/episode_1540/frame_0120.jpg", "droid-cotrack/images/episode_1540/frame_0202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the basket to the right; Move the box to the right; Move the box from the left to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the basket to the right; Move the box to the right; Move the box from the left to the right, execute the following phases: 1) Initial approach phase (start at [0.618, 0.663]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.739, 0.479]). The trajectory involves 203 precise waypoints with total movement distance of 0.404." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1540", "trajectory_length": 203, "key_frame_indices": [ 0, 120, 202 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1540.json" } }, { "id": "droid_cotrack_episode_1538", "task": "Pick up the grey object and place it on the white plate", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1538/frame_0000.jpg", "droid-cotrack/images/episode_1538/frame_0060.jpg", "droid-cotrack/images/episode_1538/frame_0154.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the grey object and place it on the white plate?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the grey object and place it on the white plate, execute the following phases: 1) Initial approach phase (start at [0.584, 0.319]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.582, 0.325]). The trajectory involves 155 precise waypoints with total movement distance of 0.070." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1538", "trajectory_length": 155, "key_frame_indices": [ 0, 60, 154 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1538.json" } }, { "id": "droid_cotrack_episode_361", "task": "Put the pen on the table; Put the blue sharpie on the table; Ta", "selected_step": 1, "image": [ "droid-cotrack/images/episode_361/frame_0000.jpg", "droid-cotrack/images/episode_361/frame_0121.jpg", "droid-cotrack/images/episode_361/frame_0134.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pen on the table; Put the blue sharpie on the table; Ta?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the pen on the table; Put the blue sharpie on the table; Ta, execute the following phases: 1) Initial approach phase (start at [0.646, 0.751]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.664, 0.798]). The trajectory involves 135 precise waypoints with total movement distance of 0.248." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_361", "trajectory_length": 135, "key_frame_indices": [ 0, 121, 134 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_361.json" } }, { "id": "droid_cotrack_episode_4042", "task": "Move the gray backpack to the right of the couch; Remove the bag from the front of the one on the couch and put it on its side; Move the grey back pack to the right side of the sofa", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4042/frame_0000.jpg", "droid-cotrack/images/episode_4042/frame_0069.jpg", "droid-cotrack/images/episode_4042/frame_0146.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the gray backpack to the right of the couch; Remove the bag from the front of the one on the couch and put it on its side; Move the grey back pack to the right side of the sofa?" }, { "from": "gpt", "value": "To complete this repositioning: Move the gray backpack to the right of the couch; Remove the bag from the front of the one on the couch and put it on its side; Move the grey back pack to the right side of the sofa, execute the following phases: 1) Initial approach phase (start at [0.597, 0.539]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.679, 0.404]). The trajectory involves 147 precise waypoints with total movement distance of 0.724." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4042", "trajectory_length": 147, "key_frame_indices": [ 0, 69, 146 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4042.json" } }, { "id": "droid_cotrack_episode_4541", "task": "Move the black thing off the black mat; Move black microphone to the left; Put the black stand on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4541/frame_0000.jpg", "droid-cotrack/images/episode_4541/frame_0193.jpg", "droid-cotrack/images/episode_4541/frame_0394.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the black thing off the black mat; Move black microphone to the left; Put the black stand on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Move the black thing off the black mat; Move black microphone to the left; Put the black stand on the table, execute the following phases: 1) Initial approach phase (start at [0.613, 0.847]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.606, 0.840]). The trajectory involves 395 precise waypoints with total movement distance of 0.681." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4541", "trajectory_length": 395, "key_frame_indices": [ 0, 193, 394 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4541.json" } }, { "id": "droid_cotrack_episode_6610", "task": "Place the orange block on top of the green block; Place the orange block on top of the green block; Put the orange block on the green block", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6610/frame_0000.jpg", "droid-cotrack/images/episode_6610/frame_0087.jpg", "droid-cotrack/images/episode_6610/frame_0123.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the orange block on top of the green block; Place the orange block on top of the green block; Put the orange block on the green block?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Place the orange block on top of the green block; Place the orange block on top of the green block; Put the orange block on the green block, execute the following phases: 1) Initial approach phase (start at [0.621, 0.574]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.528, 0.500]). The trajectory involves 124 precise waypoints with total movement distance of 0.272." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6610", "trajectory_length": 124, "key_frame_indices": [ 0, 87, 123 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6610.json" } }, { "id": "droid_cotrack_episode_6165", "task": "Pick up the black lid and put it on top of the black pot; Place the lid on the pot; Pick up the black lid and put it on the pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6165/frame_0000.jpg", "droid-cotrack/images/episode_6165/frame_0173.jpg", "droid-cotrack/images/episode_6165/frame_0321.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the black lid and put it on top of the black pot; Place the lid on the pot; Pick up the black lid and put it on the pot?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the black lid and put it on top of the black pot; Place the lid on the pot; Pick up the black lid and put it on the pot, execute the following phases: 1) Initial approach phase (start at [0.693, 0.818]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.729, 0.637]). The trajectory involves 322 precise waypoints with total movement distance of 0.667." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6165", "trajectory_length": 322, "key_frame_indices": [ 0, 173, 321 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6165.json" } }, { "id": "droid_cotrack_episode_1189", "task": "Put the marker into the mug.; Put the glue stick in the mug cup; Pick up the marker from the table and put it in the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1189/frame_0000.jpg", "droid-cotrack/images/episode_1189/frame_0210.jpg", "droid-cotrack/images/episode_1189/frame_0271.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker into the mug.; Put the glue stick in the mug cup; Pick up the marker from the table and put it in the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the marker into the mug.; Put the glue stick in the mug cup; Pick up the marker from the table and put it in the cup, execute the following phases: 1) Initial approach phase (start at [0.638, 0.448]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.630, 0.440]). The trajectory involves 272 precise waypoints with total movement distance of 0.117." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1189", "trajectory_length": 272, "key_frame_indices": [ 0, 210, 271 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1189.json" } }, { "id": "droid_cotrack_episode_10232", "task": "Pick up the egg from the table and place it in the red bowl; Pick up the egg from the table and put it in the red bowl on the front right side of the table; Pick an egg from the table and place it in the orange bowl with broccoli in it", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10232/frame_0000.jpg", "droid-cotrack/images/episode_10232/frame_0152.jpg", "droid-cotrack/images/episode_10232/frame_0180.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the egg from the table and place it in the red bowl; Pick up the egg from the table and put it in the red bowl on the front right side of the table; Pick an egg from the table and place it in the orange bowl with broccoli in it?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the egg from the table and place it in the red bowl; Pick up the egg from the table and put it in the red bowl on the front right side of the table; Pick an egg from the table and place it in the orange bowl with broccoli in it, execute the following phases: 1) Initial approach phase (start at [0.555, 0.583]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.586, 0.710]). The trajectory involves 181 precise waypoints with total movement distance of 0.387." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10232", "trajectory_length": 181, "key_frame_indices": [ 0, 152, 180 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10232.json" } }, { "id": "droid_cotrack_episode_2198", "task": "Use the black ladle to place some contents from the glass container into the coffee cup on the left.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2198/frame_0000.jpg", "droid-cotrack/images/episode_2198/frame_0599.jpg", "droid-cotrack/images/episode_2198/frame_0633.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the black ladle to place some contents from the glass container into the coffee cup on the left.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Use the black ladle to place some contents from the glass container into the coffee cup on the left., execute the following phases: 1) Initial approach phase (start at [0.498, 0.510]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.492, 0.532]). The trajectory involves 634 precise waypoints with total movement distance of 0.575." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2198", "trajectory_length": 634, "key_frame_indices": [ 0, 599, 633 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2198.json" } }, { "id": "droid_cotrack_episode_4516", "task": "Pick up the bowl with content, empty its content into the cup and place the bowl on top of the other bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4516/frame_0000.jpg", "droid-cotrack/images/episode_4516/frame_0349.jpg", "droid-cotrack/images/episode_4516/frame_0390.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the bowl with content, empty its content into the cup and place the bowl on top of the other bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the bowl with content, empty its content into the cup and place the bowl on top of the other bowl, execute the following phases: 1) Initial approach phase (start at [0.776, 0.339]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.730, 0.336]). The trajectory involves 391 precise waypoints with total movement distance of 0.422." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4516", "trajectory_length": 391, "key_frame_indices": [ 0, 349, 390 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4516.json" } }, { "id": "droid_cotrack_episode_2081", "task": "Remove the blue t-shirt from the topmost drawer on the left then place it back in the drawer; Remove the blue cloth out of the drawer, then put the cloth back in the drawer; Pick up the cloth from the drawer, then put it back in the drawer", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2081/frame_0000.jpg", "droid-cotrack/images/episode_2081/frame_0151.jpg", "droid-cotrack/images/episode_2081/frame_0482.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the blue t-shirt from the topmost drawer on the left then place it back in the drawer; Remove the blue cloth out of the drawer, then put the cloth back in the drawer; Pick up the cloth from the drawer, then put it back in the drawer?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Remove the blue t-shirt from the topmost drawer on the left then place it back in the drawer; Remove the blue cloth out of the drawer, then put the cloth back in the drawer; Pick up the cloth from the drawer, then put it back in the drawer, execute the following phases: 1) Initial approach phase (start at [0.514, 0.787]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.531, 0.793]). The trajectory involves 483 precise waypoints with total movement distance of 0.510." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2081", "trajectory_length": 483, "key_frame_indices": [ 0, 151, 482 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2081.json" } }, { "id": "droid_cotrack_episode_2262", "task": "Pick the yellow cable and put it in the box; Put the cable in the cable box; Put the yellow cable inside the toolbox.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2262/frame_0000.jpg", "droid-cotrack/images/episode_2262/frame_0089.jpg", "droid-cotrack/images/episode_2262/frame_0158.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the yellow cable and put it in the box; Put the cable in the cable box; Put the yellow cable inside the toolbox.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the yellow cable and put it in the box; Put the cable in the cable box; Put the yellow cable inside the toolbox., execute the following phases: 1) Initial approach phase (start at [0.582, 0.642]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.531, 0.531]). The trajectory involves 159 precise waypoints with total movement distance of 0.507." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2262", "trajectory_length": 159, "key_frame_indices": [ 0, 89, 158 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2262.json" } }, { "id": "droid_cotrack_episode_99", "task": "Take the bottle top and put it on the bottle; Pick up the lid from the table and put it on the bottle; Put the lid on the jar", "selected_step": 1, "image": [ "droid-cotrack/images/episode_99/frame_0000.jpg", "droid-cotrack/images/episode_99/frame_0101.jpg", "droid-cotrack/images/episode_99/frame_0314.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the bottle top and put it on the bottle; Pick up the lid from the table and put it on the bottle; Put the lid on the jar?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Take the bottle top and put it on the bottle; Pick up the lid from the table and put it on the bottle; Put the lid on the jar, execute the following phases: 1) Initial approach phase (start at [0.510, 0.496]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.542, 0.346]). The trajectory involves 315 precise waypoints with total movement distance of 0.378." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_99", "trajectory_length": 315, "key_frame_indices": [ 0, 101, 314 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_99.json" } }, { "id": "droid_cotrack_episode_10014", "task": "Pick up a bottle from the tray and put it on the table; Pick up the white object from the wooden tray and put in on the table.; Remove the bottle from the tray and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10014/frame_0000.jpg", "droid-cotrack/images/episode_10014/frame_0108.jpg", "droid-cotrack/images/episode_10014/frame_0231.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up a bottle from the tray and put it on the table; Pick up the white object from the wooden tray and put in on the table.; Remove the bottle from the tray and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up a bottle from the tray and put it on the table; Pick up the white object from the wooden tray and put in on the table.; Remove the bottle from the tray and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.624, 0.295]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.627, 0.295]). The trajectory involves 232 precise waypoints with total movement distance of 0.096." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10014", "trajectory_length": 232, "key_frame_indices": [ 0, 108, 231 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10014.json" } }, { "id": "droid_cotrack_episode_4539", "task": "Move the burgundy jacket to the top of the right chair; Hang the sweatshirt on the backrest of the chair; Put the cloth on the back rest of the chair", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4539/frame_0000.jpg", "droid-cotrack/images/episode_4539/frame_0175.jpg", "droid-cotrack/images/episode_4539/frame_0222.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the burgundy jacket to the top of the right chair; Hang the sweatshirt on the backrest of the chair; Put the cloth on the back rest of the chair?" }, { "from": "gpt", "value": "To complete this repositioning: Move the burgundy jacket to the top of the right chair; Hang the sweatshirt on the backrest of the chair; Put the cloth on the back rest of the chair, execute the following phases: 1) Initial approach phase (start at [0.647, 0.744]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.893, 0.980]). The trajectory involves 223 precise waypoints with total movement distance of 1.297." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4539", "trajectory_length": 223, "key_frame_indices": [ 0, 175, 222 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4539.json" } }, { "id": "droid_cotrack_episode_990", "task": "Pick up the marker and put it in the cup; Put the yellow marker inside the cup; Pick up the marker and put it in the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_990/frame_0000.jpg", "droid-cotrack/images/episode_990/frame_0226.jpg", "droid-cotrack/images/episode_990/frame_0255.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the marker and put it in the cup; Put the yellow marker inside the cup; Pick up the marker and put it in the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the marker and put it in the cup; Put the yellow marker inside the cup; Pick up the marker and put it in the cup, execute the following phases: 1) Initial approach phase (start at [0.701, 0.820]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.681, 0.958]). The trajectory involves 256 precise waypoints with total movement distance of 0.905." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_990", "trajectory_length": 256, "key_frame_indices": [ 0, 226, 255 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_990.json" } }, { "id": "droid_cotrack_episode_6656", "task": "Put the brown packet at the front inside the sink on the left.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6656/frame_0000.jpg", "droid-cotrack/images/episode_6656/frame_0101.jpg", "droid-cotrack/images/episode_6656/frame_0202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the brown packet at the front inside the sink on the left.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the brown packet at the front inside the sink on the left., execute the following phases: 1) Initial approach phase (start at [0.325, 0.810]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.533, 0.947]). The trajectory involves 203 precise waypoints with total movement distance of 0.518." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6656", "trajectory_length": 203, "key_frame_indices": [ 0, 101, 202 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6656.json" } }, { "id": "droid_cotrack_episode_2252", "task": "Place the marker on the desk; Remove the marker from the pot and put it on the table; Remove the marker from the pot and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2252/frame_0000.jpg", "droid-cotrack/images/episode_2252/frame_0061.jpg", "droid-cotrack/images/episode_2252/frame_0180.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the marker on the desk; Remove the marker from the pot and put it on the table; Remove the marker from the pot and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Place the marker on the desk; Remove the marker from the pot and put it on the table; Remove the marker from the pot and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.524, 0.435]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.499, 0.426]). The trajectory involves 181 precise waypoints with total movement distance of 0.114." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2252", "trajectory_length": 181, "key_frame_indices": [ 0, 61, 180 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2252.json" } }, { "id": "droid_cotrack_episode_2017", "task": "Move the orange block backwards; Move the orange item to the right; Move the orange block backwards.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2017/frame_0000.jpg", "droid-cotrack/images/episode_2017/frame_0092.jpg", "droid-cotrack/images/episode_2017/frame_0129.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the orange block backwards; Move the orange item to the right; Move the orange block backwards.?" }, { "from": "gpt", "value": "To complete this repositioning: Move the orange block backwards; Move the orange item to the right; Move the orange block backwards., execute the following phases: 1) Initial approach phase (start at [0.478, 0.300]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.567, 0.296]). The trajectory involves 130 precise waypoints with total movement distance of 0.213." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2017", "trajectory_length": 130, "key_frame_indices": [ 0, 92, 129 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2017.json" } }, { "id": "droid_cotrack_episode_6057", "task": "Put the red marker on the table.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6057/frame_0000.jpg", "droid-cotrack/images/episode_6057/frame_0168.jpg", "droid-cotrack/images/episode_6057/frame_0202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the red marker on the table.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the red marker on the table., execute the following phases: 1) Initial approach phase (start at [0.619, 0.447]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.619, 0.446]). The trajectory involves 203 precise waypoints with total movement distance of 0.056." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6057", "trajectory_length": 203, "key_frame_indices": [ 0, 168, 202 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6057.json" } }, { "id": "droid_cotrack_episode_1598", "task": "Press the switch on the adapter; Switch off extension cord; Turn off the main adapter switch", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1598/frame_0000.jpg", "droid-cotrack/images/episode_1598/frame_0121.jpg", "droid-cotrack/images/episode_1598/frame_0142.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Press the switch on the adapter; Switch off extension cord; Turn off the main adapter switch?" }, { "from": "gpt", "value": "To complete this button/switch activation: Press the switch on the adapter; Switch off extension cord; Turn off the main adapter switch, execute the following phases: 1) Initial approach phase (start at [0.614, 0.494]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.609, 0.498]). The trajectory involves 143 precise waypoints with total movement distance of 0.040." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1598", "trajectory_length": 143, "key_frame_indices": [ 0, 121, 142 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1598.json" } }, { "id": "droid_cotrack_episode_1124", "task": "Move the faucet spout to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1124/frame_0000.jpg", "droid-cotrack/images/episode_1124/frame_0129.jpg", "droid-cotrack/images/episode_1124/frame_0143.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the faucet spout to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the faucet spout to the right, execute the following phases: 1) Initial approach phase (start at [0.580, 0.314]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.596, 0.334]). The trajectory involves 144 precise waypoints with total movement distance of 0.101." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1124", "trajectory_length": 144, "key_frame_indices": [ 0, 129, 143 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1124.json" } }, { "id": "droid_cotrack_episode_175", "task": "Put the pen in the mug; Put the blue marker in the green/white mug; Put the marker in the mug", "selected_step": 1, "image": [ "droid-cotrack/images/episode_175/frame_0000.jpg", "droid-cotrack/images/episode_175/frame_0107.jpg", "droid-cotrack/images/episode_175/frame_0159.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pen in the mug; Put the blue marker in the green/white mug; Put the marker in the mug?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the pen in the mug; Put the blue marker in the green/white mug; Put the marker in the mug, execute the following phases: 1) Initial approach phase (start at [0.653, 0.601]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.577, 0.434]). The trajectory involves 160 precise waypoints with total movement distance of 0.545." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_175", "trajectory_length": 160, "key_frame_indices": [ 0, 107, 159 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_175.json" } }, { "id": "droid_cotrack_episode_4398", "task": "Turn the faucet to the right; Push the tap slightly to the right; Turn the tap nozzle to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4398/frame_0000.jpg", "droid-cotrack/images/episode_4398/frame_0074.jpg", "droid-cotrack/images/episode_4398/frame_0157.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn the faucet to the right; Push the tap slightly to the right; Turn the tap nozzle to the right?" }, { "from": "gpt", "value": "To complete this button/switch activation: Turn the faucet to the right; Push the tap slightly to the right; Turn the tap nozzle to the right, execute the following phases: 1) Initial approach phase (start at [0.569, 0.539]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.573, 0.549]). The trajectory involves 158 precise waypoints with total movement distance of 0.063." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4398", "trajectory_length": 158, "key_frame_indices": [ 0, 74, 157 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4398.json" } }, { "id": "droid_cotrack_episode_255", "task": "Put the black masking tape on the plate; Put the black tape on the plate; Pick up the black masking tape and put it on the plate", "selected_step": 1, "image": [ "droid-cotrack/images/episode_255/frame_0000.jpg", "droid-cotrack/images/episode_255/frame_0094.jpg", "droid-cotrack/images/episode_255/frame_0147.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the black masking tape on the plate; Put the black tape on the plate; Pick up the black masking tape and put it on the plate?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the black masking tape on the plate; Put the black tape on the plate; Pick up the black masking tape and put it on the plate, execute the following phases: 1) Initial approach phase (start at [0.532, 0.501]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.213, 0.379]). The trajectory involves 148 precise waypoints with total movement distance of 0.798." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_255", "trajectory_length": 148, "key_frame_indices": [ 0, 94, 147 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_255.json" } }, { "id": "droid_cotrack_episode_4438", "task": "Move the cup to the right then to the left; Move the mug forward; Move the mug cup forward", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4438/frame_0000.jpg", "droid-cotrack/images/episode_4438/frame_0188.jpg", "droid-cotrack/images/episode_4438/frame_0243.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup to the right then to the left; Move the mug forward; Move the mug cup forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup to the right then to the left; Move the mug forward; Move the mug cup forward, execute the following phases: 1) Initial approach phase (start at [0.588, 0.495]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.613, 0.563]). The trajectory involves 244 precise waypoints with total movement distance of 0.482." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4438", "trajectory_length": 244, "key_frame_indices": [ 0, 188, 243 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4438.json" } }, { "id": "droid_cotrack_episode_1263", "task": "Use the left white towel to wipe the pan; Use the towel to the left to wipe the pan; Use the towel on the left to wipe the black pan.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1263/frame_0000.jpg", "droid-cotrack/images/episode_1263/frame_0191.jpg", "droid-cotrack/images/episode_1263/frame_0263.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the left white towel to wipe the pan; Use the towel to the left to wipe the pan; Use the towel on the left to wipe the black pan.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Use the left white towel to wipe the pan; Use the towel to the left to wipe the pan; Use the towel on the left to wipe the black pan., execute the following phases: 1) Initial approach phase (start at [0.502, 0.467]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.488, 0.476]). The trajectory involves 264 precise waypoints with total movement distance of 1.203." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1263", "trajectory_length": 264, "key_frame_indices": [ 0, 191, 263 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1263.json" } }, { "id": "droid_cotrack_episode_6025", "task": "Move the black pepper container backward and to the right; Move the shaker to the right; Move the black pepper container backward and to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6025/frame_0000.jpg", "droid-cotrack/images/episode_6025/frame_0121.jpg", "droid-cotrack/images/episode_6025/frame_0169.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the black pepper container backward and to the right; Move the shaker to the right; Move the black pepper container backward and to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the black pepper container backward and to the right; Move the shaker to the right; Move the black pepper container backward and to the right, execute the following phases: 1) Initial approach phase (start at [0.593, 0.429]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.639, 0.260]). The trajectory involves 170 precise waypoints with total movement distance of 0.612." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6025", "trajectory_length": 170, "key_frame_indices": [ 0, 121, 169 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6025.json" } }, { "id": "droid_cotrack_episode_368", "task": "Put the marker in the mug; Put the black marker into the mug; Put the pen inside the white mug", "selected_step": 1, "image": [ "droid-cotrack/images/episode_368/frame_0000.jpg", "droid-cotrack/images/episode_368/frame_0054.jpg", "droid-cotrack/images/episode_368/frame_0090.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the mug; Put the black marker into the mug; Put the pen inside the white mug?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the marker in the mug; Put the black marker into the mug; Put the pen inside the white mug, execute the following phases: 1) Initial approach phase (start at [0.551, 0.455]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.593, 0.387]). The trajectory involves 91 precise waypoints with total movement distance of 0.355." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_368", "trajectory_length": 91, "key_frame_indices": [ 0, 54, 90 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_368.json" } }, { "id": "droid_cotrack_episode_4033", "task": "Use the silver spoon to stir the contents in the red bowl; Use the spoon to stir the contents of the red bowl; Stir the contents in the red bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4033/frame_0000.jpg", "droid-cotrack/images/episode_4033/frame_0130.jpg", "droid-cotrack/images/episode_4033/frame_0431.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the silver spoon to stir the contents in the red bowl; Use the spoon to stir the contents of the red bowl; Stir the contents in the red bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Use the silver spoon to stir the contents in the red bowl; Use the spoon to stir the contents of the red bowl; Stir the contents in the red bowl, execute the following phases: 1) Initial approach phase (start at [0.548, 0.795]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.547, 0.804]). The trajectory involves 432 precise waypoints with total movement distance of 0.126." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4033", "trajectory_length": 432, "key_frame_indices": [ 0, 130, 431 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4033.json" } }, { "id": "droid_cotrack_episode_53", "task": "Press down on the coffeemaker; Press on top of the coffee maker; Press the top of the coffee machine", "selected_step": 1, "image": [ "droid-cotrack/images/episode_53/frame_0000.jpg", "droid-cotrack/images/episode_53/frame_0075.jpg", "droid-cotrack/images/episode_53/frame_0169.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Press down on the coffeemaker; Press on top of the coffee maker; Press the top of the coffee machine?" }, { "from": "gpt", "value": "To complete this button/switch activation: Press down on the coffeemaker; Press on top of the coffee maker; Press the top of the coffee machine, execute the following phases: 1) Initial approach phase (start at [0.480, 0.275]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.478, 0.274]). The trajectory involves 170 precise waypoints with total movement distance of 0.154." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_53", "trajectory_length": 170, "key_frame_indices": [ 0, 75, 169 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_53.json" } }, { "id": "droid_cotrack_episode_1785", "task": "Move the bowl to the right; Move the bowl slightly to the right; Move the white bowl to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1785/frame_0000.jpg", "droid-cotrack/images/episode_1785/frame_0073.jpg", "droid-cotrack/images/episode_1785/frame_0106.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bowl to the right; Move the bowl slightly to the right; Move the white bowl to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bowl to the right; Move the bowl slightly to the right; Move the white bowl to the right, execute the following phases: 1) Initial approach phase (start at [0.464, 0.489]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.517, 0.517]). The trajectory involves 107 precise waypoints with total movement distance of 0.109." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1785", "trajectory_length": 107, "key_frame_indices": [ 0, 73, 106 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1785.json" } }, { "id": "droid_cotrack_episode_4533", "task": "Pick up the pen from the table and put it in the red mug cup.; Put the marker inside the mug; Put the sharpie in the mug", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4533/frame_0000.jpg", "droid-cotrack/images/episode_4533/frame_0182.jpg", "droid-cotrack/images/episode_4533/frame_0203.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the pen from the table and put it in the red mug cup.; Put the marker inside the mug; Put the sharpie in the mug?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the pen from the table and put it in the red mug cup.; Put the marker inside the mug; Put the sharpie in the mug, execute the following phases: 1) Initial approach phase (start at [0.462, 0.607]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.531, 0.659]). The trajectory involves 204 precise waypoints with total movement distance of 0.672." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4533", "trajectory_length": 204, "key_frame_indices": [ 0, 182, 203 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4533.json" } }, { "id": "droid_cotrack_episode_1119", "task": "Put the white charging adaptor on the extension cable; Put the white charging adaptor on the extension cord.; Pick up the adapter and plug it on the extension cord", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1119/frame_0000.jpg", "droid-cotrack/images/episode_1119/frame_0338.jpg", "droid-cotrack/images/episode_1119/frame_0346.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the white charging adaptor on the extension cable; Put the white charging adaptor on the extension cord.; Pick up the adapter and plug it on the extension cord?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the white charging adaptor on the extension cable; Put the white charging adaptor on the extension cord.; Pick up the adapter and plug it on the extension cord, execute the following phases: 1) Initial approach phase (start at [0.569, 0.551]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.573, 0.544]). The trajectory involves 347 precise waypoints with total movement distance of 0.351." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1119", "trajectory_length": 347, "key_frame_indices": [ 0, 338, 346 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1119.json" } }, { "id": "droid_cotrack_episode_245", "task": "Pick up the white marker and put it in the green cup; Put the blue marker inside the white and green mug; Put the marker in the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_245/frame_0000.jpg", "droid-cotrack/images/episode_245/frame_0103.jpg", "droid-cotrack/images/episode_245/frame_0144.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the white marker and put it in the green cup; Put the blue marker inside the white and green mug; Put the marker in the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the white marker and put it in the green cup; Put the blue marker inside the white and green mug; Put the marker in the cup, execute the following phases: 1) Initial approach phase (start at [0.631, 0.690]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.617, 0.468]). The trajectory involves 145 precise waypoints with total movement distance of 0.527." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_245", "trajectory_length": 145, "key_frame_indices": [ 0, 103, 144 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_245.json" } }, { "id": "droid_cotrack_episode_1224", "task": "Move the object from the measuring cup into the pot; Pour the contents in the clear jug into the black pot; Pick up the jar and pour all it's contents in the pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1224/frame_0000.jpg", "droid-cotrack/images/episode_1224/frame_0282.jpg", "droid-cotrack/images/episode_1224/frame_0384.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the object from the measuring cup into the pot; Pour the contents in the clear jug into the black pot; Pick up the jar and pour all it's contents in the pot?" }, { "from": "gpt", "value": "To complete this repositioning: Move the object from the measuring cup into the pot; Pour the contents in the clear jug into the black pot; Pick up the jar and pour all it's contents in the pot, execute the following phases: 1) Initial approach phase (start at [0.466, 0.363]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.471, 0.364]). The trajectory involves 385 precise waypoints with total movement distance of 0.127." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1224", "trajectory_length": 385, "key_frame_indices": [ 0, 282, 384 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1224.json" } }, { "id": "droid_cotrack_episode_460", "task": "Push the switch of the toaster down; Push the lever on the toaster downwards.; Push the switch of the toaster down", "selected_step": 1, "image": [ "droid-cotrack/images/episode_460/frame_0000.jpg", "droid-cotrack/images/episode_460/frame_0100.jpg", "droid-cotrack/images/episode_460/frame_0118.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the switch of the toaster down; Push the lever on the toaster downwards.; Push the switch of the toaster down?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push the switch of the toaster down; Push the lever on the toaster downwards.; Push the switch of the toaster down, execute the following phases: 1) Initial approach phase (start at [0.625, 0.602]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.625, 0.600]). The trajectory involves 119 precise waypoints with total movement distance of 0.061." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_460", "trajectory_length": 119, "key_frame_indices": [ 0, 100, 118 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_460.json" } }, { "id": "droid_cotrack_episode_4285", "task": "Move the wooden spoon to the right, use the wooden spoon to stir the contents in the black pot, remove the spoon from the pot and place it on the right side of the counter; Move the wooden spoon to the right then use it to mix in the black mug; Move the wooden spoon to the right, use the wooden spoon to stir the contents in the black mug", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4285/frame_0000.jpg", "droid-cotrack/images/episode_4285/frame_0148.jpg", "droid-cotrack/images/episode_4285/frame_1234.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the wooden spoon to the right, use the wooden spoon to stir the contents in the black pot, remove the spoon from the pot and place it on the right side of the counter; Move the wooden spoon to the right then use it to mix in the black mug; Move the wooden spoon to the right, use the wooden spoon to stir the contents in the black mug?" }, { "from": "gpt", "value": "To complete this repositioning: Move the wooden spoon to the right, use the wooden spoon to stir the contents in the black pot, remove the spoon from the pot and place it on the right side of the counter; Move the wooden spoon to the right then use it to mix in the black mug; Move the wooden spoon to the right, use the wooden spoon to stir the contents in the black mug, execute the following phases: 1) Initial approach phase (start at [0.167, 0.887]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.529, 0.700]). The trajectory involves 1235 precise waypoints with total movement distance of 1.988." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4285", "trajectory_length": 1235, "key_frame_indices": [ 0, 148, 1234 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4285.json" } }, { "id": "droid_cotrack_episode_1469", "task": "Pick one teaspoon and put it on the counter; Put the spoon in the tray on the table; Remove a teaspoon from the tray", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1469/frame_0000.jpg", "droid-cotrack/images/episode_1469/frame_0001.jpg", "droid-cotrack/images/episode_1469/frame_0356.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick one teaspoon and put it on the counter; Put the spoon in the tray on the table; Remove a teaspoon from the tray?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick one teaspoon and put it on the counter; Put the spoon in the tray on the table; Remove a teaspoon from the tray, execute the following phases: 1) Initial approach phase (start at [0.685, 0.712]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.685, 0.746]). The trajectory involves 357 precise waypoints with total movement distance of 0.261." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1469", "trajectory_length": 357, "key_frame_indices": [ 0, 1, 356 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1469.json" } }, { "id": "droid_cotrack_episode_339", "task": "Uncover the pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_339/frame_0000.jpg", "droid-cotrack/images/episode_339/frame_0090.jpg", "droid-cotrack/images/episode_339/frame_0155.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Uncover the pot?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Uncover the pot, execute the following phases: 1) Initial approach phase (start at [0.375, 0.498]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.376, 0.496]). The trajectory involves 156 precise waypoints with total movement distance of 0.064." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_339", "trajectory_length": 156, "key_frame_indices": [ 0, 90, 155 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_339.json" } }, { "id": "droid_cotrack_episode_1743", "task": "Open the lid of the clear bowl; Open the lid of the clear container; Open the lid on the clear container", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1743/frame_0000.jpg", "droid-cotrack/images/episode_1743/frame_0088.jpg", "droid-cotrack/images/episode_1743/frame_0249.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the lid of the clear bowl; Open the lid of the clear container; Open the lid on the clear container?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the lid of the clear bowl; Open the lid of the clear container; Open the lid on the clear container, execute the following phases: 1) Initial approach phase (start at [0.673, 0.688]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.673, 0.689]). The trajectory involves 250 precise waypoints with total movement distance of 0.082." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1743", "trajectory_length": 250, "key_frame_indices": [ 0, 88, 249 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1743.json" } }, { "id": "droid_cotrack_episode_6574", "task": "Put the lid on the black pot; Pick up the lid from the table and place it on the black pot; Put the glass lid on the black pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6574/frame_0000.jpg", "droid-cotrack/images/episode_6574/frame_0215.jpg", "droid-cotrack/images/episode_6574/frame_0334.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the lid on the black pot; Pick up the lid from the table and place it on the black pot; Put the glass lid on the black pot?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the lid on the black pot; Pick up the lid from the table and place it on the black pot; Put the glass lid on the black pot, execute the following phases: 1) Initial approach phase (start at [0.597, 0.400]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.534, 0.336]). The trajectory involves 335 precise waypoints with total movement distance of 0.285." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6574", "trajectory_length": 335, "key_frame_indices": [ 0, 215, 334 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6574.json" } }, { "id": "droid_cotrack_episode_4155", "task": "Close the box; Close the lid of the blue box; Close the box", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4155/frame_0000.jpg", "droid-cotrack/images/episode_4155/frame_0264.jpg", "droid-cotrack/images/episode_4155/frame_0304.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the box; Close the lid of the blue box; Close the box?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the box; Close the lid of the blue box; Close the box, execute the following phases: 1) Initial approach phase (start at [0.563, 0.511]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.544, 0.393]). The trajectory involves 305 precise waypoints with total movement distance of 0.563." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4155", "trajectory_length": 305, "key_frame_indices": [ 0, 264, 304 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4155.json" } }, { "id": "droid_cotrack_episode_1848", "task": "Open the right cabinet door; Open the right side of the cabinet.; Open the right door of the cabinet", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1848/frame_0000.jpg", "droid-cotrack/images/episode_1848/frame_0117.jpg", "droid-cotrack/images/episode_1848/frame_0141.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the right cabinet door; Open the right side of the cabinet.; Open the right door of the cabinet?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the right cabinet door; Open the right side of the cabinet.; Open the right door of the cabinet, execute the following phases: 1) Initial approach phase (start at [0.594, 0.133]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.602, 0.134]). The trajectory involves 142 precise waypoints with total movement distance of 0.256." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1848", "trajectory_length": 142, "key_frame_indices": [ 0, 117, 141 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1848.json" } }, { "id": "droid_cotrack_episode_1377", "task": "Open the coffee maker lid; Open the coffee maker; Open the coffee maker", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1377/frame_0000.jpg", "droid-cotrack/images/episode_1377/frame_0023.jpg", "droid-cotrack/images/episode_1377/frame_0280.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the coffee maker lid; Open the coffee maker; Open the coffee maker?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the coffee maker lid; Open the coffee maker; Open the coffee maker, execute the following phases: 1) Initial approach phase (start at [0.479, 0.323]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.473, 0.320]). The trajectory involves 281 precise waypoints with total movement distance of 0.183." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1377", "trajectory_length": 281, "key_frame_indices": [ 0, 23, 280 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1377.json" } }, { "id": "droid_cotrack_episode_2247", "task": "Slide the green cloth to the left on the counter; Move the cloth to the left; Move the green cloth to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2247/frame_0000.jpg", "droid-cotrack/images/episode_2247/frame_0072.jpg", "droid-cotrack/images/episode_2247/frame_0099.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the green cloth to the left on the counter; Move the cloth to the left; Move the green cloth to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the green cloth to the left on the counter; Move the cloth to the left; Move the green cloth to the left, execute the following phases: 1) Initial approach phase (start at [0.503, 0.478]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.449, 0.413]). The trajectory involves 100 precise waypoints with total movement distance of 0.116." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2247", "trajectory_length": 100, "key_frame_indices": [ 0, 72, 99 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2247.json" } }, { "id": "droid_cotrack_episode_1576", "task": "Move the pot to the front plate; Move the pot closer to you; Move the pot on the right forwards", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1576/frame_0000.jpg", "droid-cotrack/images/episode_1576/frame_0117.jpg", "droid-cotrack/images/episode_1576/frame_0142.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the pot to the front plate; Move the pot closer to you; Move the pot on the right forwards?" }, { "from": "gpt", "value": "To complete this repositioning: Move the pot to the front plate; Move the pot closer to you; Move the pot on the right forwards, execute the following phases: 1) Initial approach phase (start at [0.721, 0.921]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.621, 0.985]). The trajectory involves 143 precise waypoints with total movement distance of 0.369." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1576", "trajectory_length": 143, "key_frame_indices": [ 0, 117, 142 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1576.json" } }, { "id": "droid_cotrack_episode_1589", "task": "Put the marker on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1589/frame_0000.jpg", "droid-cotrack/images/episode_1589/frame_0025.jpg", "droid-cotrack/images/episode_1589/frame_0202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker on the table?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the marker on the table, execute the following phases: 1) Initial approach phase (start at [0.498, 0.490]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.351, 0.606]). The trajectory involves 203 precise waypoints with total movement distance of 1.053." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1589", "trajectory_length": 203, "key_frame_indices": [ 0, 25, 202 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1589.json" } }, { "id": "droid_cotrack_episode_2240", "task": "Open the bottom drawer on the beige filing cabinet; Open the bottom drawer of the right cabinet; Open the bottom drawer on the beige filing cabinet", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2240/frame_0000.jpg", "droid-cotrack/images/episode_2240/frame_0101.jpg", "droid-cotrack/images/episode_2240/frame_0140.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the bottom drawer on the beige filing cabinet; Open the bottom drawer of the right cabinet; Open the bottom drawer on the beige filing cabinet?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the bottom drawer on the beige filing cabinet; Open the bottom drawer of the right cabinet; Open the bottom drawer on the beige filing cabinet, execute the following phases: 1) Initial approach phase (start at [0.620, 0.750]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.678, 0.857]). The trajectory involves 141 precise waypoints with total movement distance of 0.231." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2240", "trajectory_length": 141, "key_frame_indices": [ 0, 101, 140 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2240.json" } }, { "id": "droid_cotrack_episode_1421", "task": "Remove the cup from the sink; Put the mug on the counter top; Remove the cup from the sink and put it on top of the sink on the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1421/frame_0000.jpg", "droid-cotrack/images/episode_1421/frame_0149.jpg", "droid-cotrack/images/episode_1421/frame_0209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the cup from the sink; Put the mug on the counter top; Remove the cup from the sink and put it on top of the sink on the right?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the cup from the sink; Put the mug on the counter top; Remove the cup from the sink and put it on top of the sink on the right, execute the following phases: 1) Initial approach phase (start at [0.525, 0.579]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.620, 0.446]). The trajectory involves 210 precise waypoints with total movement distance of 0.396." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1421", "trajectory_length": 210, "key_frame_indices": [ 0, 149, 209 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1421.json" } }, { "id": "droid_cotrack_episode_1630", "task": "Switch off the third switch from the right; Turn off the fifth switch on the extension cable; Push down on the third switch from the right on the adaptor.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1630/frame_0000.jpg", "droid-cotrack/images/episode_1630/frame_0128.jpg", "droid-cotrack/images/episode_1630/frame_0133.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Switch off the third switch from the right; Turn off the fifth switch on the extension cable; Push down on the third switch from the right on the adaptor.?" }, { "from": "gpt", "value": "To complete this button/switch activation: Switch off the third switch from the right; Turn off the fifth switch on the extension cable; Push down on the third switch from the right on the adaptor., execute the following phases: 1) Initial approach phase (start at [0.736, 0.765]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.742, 0.767]). The trajectory involves 134 precise waypoints with total movement distance of 0.049." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1630", "trajectory_length": 134, "key_frame_indices": [ 0, 128, 133 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1630.json" } }, { "id": "droid_cotrack_episode_4424", "task": "Move the cup backward; Move the dark blue cup to the center of the table; Move the cup diagonally to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4424/frame_0000.jpg", "droid-cotrack/images/episode_4424/frame_0089.jpg", "droid-cotrack/images/episode_4424/frame_0132.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup backward; Move the dark blue cup to the center of the table; Move the cup diagonally to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup backward; Move the dark blue cup to the center of the table; Move the cup diagonally to the right, execute the following phases: 1) Initial approach phase (start at [0.568, 0.771]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.520, 0.608]). The trajectory involves 133 precise waypoints with total movement distance of 0.365." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4424", "trajectory_length": 133, "key_frame_indices": [ 0, 89, 132 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4424.json" } }, { "id": "droid_cotrack_episode_10274", "task": "Put the orange disc on the wooden stand; Put the orange ring on the wooden object; Put the orange thing on the wooden rack", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10274/frame_0000.jpg", "droid-cotrack/images/episode_10274/frame_0104.jpg", "droid-cotrack/images/episode_10274/frame_0206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange disc on the wooden stand; Put the orange ring on the wooden object; Put the orange thing on the wooden rack?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the orange disc on the wooden stand; Put the orange ring on the wooden object; Put the orange thing on the wooden rack, execute the following phases: 1) Initial approach phase (start at [0.674, 0.674]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.588, 0.724]). The trajectory involves 207 precise waypoints with total movement distance of 0.370." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10274", "trajectory_length": 207, "key_frame_indices": [ 0, 104, 206 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10274.json" } }, { "id": "droid_cotrack_episode_4215", "task": "Take the lid off the pot on the shelf", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4215/frame_0000.jpg", "droid-cotrack/images/episode_4215/frame_0115.jpg", "droid-cotrack/images/episode_4215/frame_0119.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the lid off the pot on the shelf?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Take the lid off the pot on the shelf, execute the following phases: 1) Initial approach phase (start at [0.471, 0.680]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.476, 0.683]). The trajectory involves 120 precise waypoints with total movement distance of 0.032." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4215", "trajectory_length": 120, "key_frame_indices": [ 0, 115, 119 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4215.json" } }, { "id": "droid_cotrack_episode_298", "task": "Pick the pen on the table and put it in the cup; Put the marker in the cup; Pick up the pen from the table and place it in the yellow cup.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_298/frame_0000.jpg", "droid-cotrack/images/episode_298/frame_0119.jpg", "droid-cotrack/images/episode_298/frame_0231.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the pen on the table and put it in the cup; Put the marker in the cup; Pick up the pen from the table and place it in the yellow cup.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the pen on the table and put it in the cup; Put the marker in the cup; Pick up the pen from the table and place it in the yellow cup., execute the following phases: 1) Initial approach phase (start at [0.566, 0.650]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.537, 0.508]). The trajectory involves 232 precise waypoints with total movement distance of 0.554." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_298", "trajectory_length": 232, "key_frame_indices": [ 0, 119, 231 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_298.json" } }, { "id": "droid_cotrack_episode_6807", "task": "Take the silver lid off the taller glass bottle; Put the silver cap on the table; Remove the lid on the white bottle", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6807/frame_0000.jpg", "droid-cotrack/images/episode_6807/frame_0041.jpg", "droid-cotrack/images/episode_6807/frame_0169.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the silver lid off the taller glass bottle; Put the silver cap on the table; Remove the lid on the white bottle?" }, { "from": "gpt", "value": "To complete this repositioning: Take the silver lid off the taller glass bottle; Put the silver cap on the table; Remove the lid on the white bottle, execute the following phases: 1) Initial approach phase (start at [0.669, 0.139]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.672, 0.144]). The trajectory involves 170 precise waypoints with total movement distance of 0.076." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6807", "trajectory_length": 170, "key_frame_indices": [ 0, 41, 169 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6807.json" } }, { "id": "droid_cotrack_episode_4555", "task": "Take one bottle from the box from and place it on the table; Take a bottle from the tray and put it on the purple mat; Remove one bottle from the tray and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4555/frame_0000.jpg", "droid-cotrack/images/episode_4555/frame_0015.jpg", "droid-cotrack/images/episode_4555/frame_0184.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take one bottle from the box from and place it on the table; Take a bottle from the tray and put it on the purple mat; Remove one bottle from the tray and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Take one bottle from the box from and place it on the table; Take a bottle from the tray and put it on the purple mat; Remove one bottle from the tray and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.772, 0.434]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.712, 0.722]). The trajectory involves 185 precise waypoints with total movement distance of 0.673." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4555", "trajectory_length": 185, "key_frame_indices": [ 0, 15, 184 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4555.json" } }, { "id": "droid_cotrack_episode_131", "task": "Take the lid off the silver pot and put it on the table; Take the lid off the silver pot and put it on the table; Uncover the pot and put the lid on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_131/frame_0000.jpg", "droid-cotrack/images/episode_131/frame_0153.jpg", "droid-cotrack/images/episode_131/frame_0256.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the lid off the silver pot and put it on the table; Take the lid off the silver pot and put it on the table; Uncover the pot and put the lid on the table?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Take the lid off the silver pot and put it on the table; Take the lid off the silver pot and put it on the table; Uncover the pot and put the lid on the table, execute the following phases: 1) Initial approach phase (start at [0.509, 0.489]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.546, 0.507]). The trajectory involves 257 precise waypoints with total movement distance of 1.070." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_131", "trajectory_length": 257, "key_frame_indices": [ 0, 153, 256 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_131.json" } }, { "id": "droid_cotrack_episode_797", "task": "Move the white and blue box to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_797/frame_0000.jpg", "droid-cotrack/images/episode_797/frame_0072.jpg", "droid-cotrack/images/episode_797/frame_0103.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the white and blue box to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the white and blue box to the left, execute the following phases: 1) Initial approach phase (start at [0.591, 0.183]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.487, 0.150]). The trajectory involves 104 precise waypoints with total movement distance of 0.396." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_797", "trajectory_length": 104, "key_frame_indices": [ 0, 72, 103 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_797.json" } }, { "id": "droid_cotrack_episode_10226", "task": "Remove the black marker from the bowl and put it on the table; Take the purple marker out of the bowl and put it on the table; Take the marker out of the bowl and place it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10226/frame_0000.jpg", "droid-cotrack/images/episode_10226/frame_0079.jpg", "droid-cotrack/images/episode_10226/frame_0103.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the black marker from the bowl and put it on the table; Take the purple marker out of the bowl and put it on the table; Take the marker out of the bowl and place it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the black marker from the bowl and put it on the table; Take the purple marker out of the bowl and put it on the table; Take the marker out of the bowl and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.694, 0.660]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.704, 0.661]). The trajectory involves 104 precise waypoints with total movement distance of 0.081." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10226", "trajectory_length": 104, "key_frame_indices": [ 0, 79, 103 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10226.json" } }, { "id": "droid_cotrack_episode_277", "task": "Put the white object on the plate; Put the plush toy on the orange plate.; Put the plush on the plate", "selected_step": 1, "image": [ "droid-cotrack/images/episode_277/frame_0000.jpg", "droid-cotrack/images/episode_277/frame_0067.jpg", "droid-cotrack/images/episode_277/frame_0094.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the white object on the plate; Put the plush toy on the orange plate.; Put the plush on the plate?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the white object on the plate; Put the plush toy on the orange plate.; Put the plush on the plate, execute the following phases: 1) Initial approach phase (start at [0.436, 0.572]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.413, 0.541]). The trajectory involves 95 precise waypoints with total movement distance of 0.182." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_277", "trajectory_length": 95, "key_frame_indices": [ 0, 67, 94 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_277.json" } }, { "id": "droid_cotrack_episode_6097", "task": "Put the orange block on the green one; Place the orange block on the green block; Put the orange block on top of the green block", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6097/frame_0000.jpg", "droid-cotrack/images/episode_6097/frame_0066.jpg", "droid-cotrack/images/episode_6097/frame_0100.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange block on the green one; Place the orange block on the green block; Put the orange block on top of the green block?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the orange block on the green one; Place the orange block on the green block; Put the orange block on top of the green block, execute the following phases: 1) Initial approach phase (start at [0.619, 0.556]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.523, 0.542]). The trajectory involves 101 precise waypoints with total movement distance of 0.244." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6097", "trajectory_length": 101, "key_frame_indices": [ 0, 66, 100 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6097.json" } }, { "id": "droid_cotrack_episode_6765", "task": "Open the top bedroom drawer fully; Open the topmost drawer on the left; Open the top drawer on the left.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6765/frame_0000.jpg", "droid-cotrack/images/episode_6765/frame_0196.jpg", "droid-cotrack/images/episode_6765/frame_0225.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the top bedroom drawer fully; Open the topmost drawer on the left; Open the top drawer on the left.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the top bedroom drawer fully; Open the topmost drawer on the left; Open the top drawer on the left., execute the following phases: 1) Initial approach phase (start at [0.511, 0.452]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.619, 0.531]). The trajectory involves 226 precise waypoints with total movement distance of 0.309." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6765", "trajectory_length": 226, "key_frame_indices": [ 0, 196, 225 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6765.json" } }, { "id": "droid_cotrack_episode_1841", "task": "Remove the egg from the egg holder and put it on the counter; Pick up one egg from the egg tray and put it on the counter; Pick up an egg from the yellow tray and put it on top of the cabinet.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1841/frame_0000.jpg", "droid-cotrack/images/episode_1841/frame_0155.jpg", "droid-cotrack/images/episode_1841/frame_0218.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the egg from the egg holder and put it on the counter; Pick up one egg from the egg tray and put it on the counter; Pick up an egg from the yellow tray and put it on top of the cabinet.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Remove the egg from the egg holder and put it on the counter; Pick up one egg from the egg tray and put it on the counter; Pick up an egg from the yellow tray and put it on top of the cabinet., execute the following phases: 1) Initial approach phase (start at [0.178, 0.902]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.136, 0.894]). The trajectory involves 219 precise waypoints with total movement distance of 0.189." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1841", "trajectory_length": 219, "key_frame_indices": [ 0, 155, 218 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1841.json" } }, { "id": "droid_cotrack_episode_4178", "task": "Use the duster to clean the whiteboard; Pick up the eraser and clear the board; Pick up the duster and rub the board", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4178/frame_0000.jpg", "droid-cotrack/images/episode_4178/frame_0026.jpg", "droid-cotrack/images/episode_4178/frame_0390.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the duster to clean the whiteboard; Pick up the eraser and clear the board; Pick up the duster and rub the board?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Use the duster to clean the whiteboard; Pick up the eraser and clear the board; Pick up the duster and rub the board, execute the following phases: 1) Initial approach phase (start at [0.470, 0.478]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.503, 0.694]). The trajectory involves 391 precise waypoints with total movement distance of 1.753." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4178", "trajectory_length": 391, "key_frame_indices": [ 0, 26, 390 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4178.json" } }, { "id": "droid_cotrack_episode_1416", "task": "Close the left top drawer; Close the top left drawer; Close the topmost drawer on the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1416/frame_0000.jpg", "droid-cotrack/images/episode_1416/frame_0059.jpg", "droid-cotrack/images/episode_1416/frame_0068.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the left top drawer; Close the top left drawer; Close the topmost drawer on the left?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the left top drawer; Close the top left drawer; Close the topmost drawer on the left, execute the following phases: 1) Initial approach phase (start at [0.587, 0.496]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.423, 0.453]). The trajectory involves 69 precise waypoints with total movement distance of 0.223." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1416", "trajectory_length": 69, "key_frame_indices": [ 0, 59, 68 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1416.json" } }, { "id": "droid_cotrack_episode_292", "task": "Move the faucet nozzle to the right; Move the tap nozzle to the right.; Move the tap nozzle to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_292/frame_0000.jpg", "droid-cotrack/images/episode_292/frame_0116.jpg", "droid-cotrack/images/episode_292/frame_0219.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the faucet nozzle to the right; Move the tap nozzle to the right.; Move the tap nozzle to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the faucet nozzle to the right; Move the tap nozzle to the right.; Move the tap nozzle to the right, execute the following phases: 1) Initial approach phase (start at [0.496, 0.274]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.642, 0.310]). The trajectory involves 220 precise waypoints with total movement distance of 0.256." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_292", "trajectory_length": 220, "key_frame_indices": [ 0, 116, 219 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_292.json" } }, { "id": "droid_cotrack_episode_111", "task": "Put the marker in the bowl; Put the marker in the bowl; Pick up the marker from the table and put it in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_111/frame_0000.jpg", "droid-cotrack/images/episode_111/frame_0125.jpg", "droid-cotrack/images/episode_111/frame_0152.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the bowl; Put the marker in the bowl; Pick up the marker from the table and put it in the bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the marker in the bowl; Put the marker in the bowl; Pick up the marker from the table and put it in the bowl, execute the following phases: 1) Initial approach phase (start at [0.376, 0.612]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.484, 0.672]). The trajectory involves 153 precise waypoints with total movement distance of 0.456." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_111", "trajectory_length": 153, "key_frame_indices": [ 0, 125, 152 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_111.json" } }, { "id": "droid_cotrack_episode_252", "task": "Put the pen near the mouse; Remove the pen from the mug cup and place it on the table; Remove the pen from the mug", "selected_step": 1, "image": [ "droid-cotrack/images/episode_252/frame_0000.jpg", "droid-cotrack/images/episode_252/frame_0101.jpg", "droid-cotrack/images/episode_252/frame_0153.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pen near the mouse; Remove the pen from the mug cup and place it on the table; Remove the pen from the mug?" }, { "from": "gpt", "value": "To complete this repositioning: Put the pen near the mouse; Remove the pen from the mug cup and place it on the table; Remove the pen from the mug, execute the following phases: 1) Initial approach phase (start at [0.220, 0.116]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.419, 0.108]). The trajectory involves 154 precise waypoints with total movement distance of 0.502." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_252", "trajectory_length": 154, "key_frame_indices": [ 0, 101, 153 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_252.json" } }, { "id": "droid_cotrack_episode_1210", "task": "Pick up the piece of orange plush toy and put it in the box; Put the orange plush toy inside the basket; Put an orange plush in the basket", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1210/frame_0000.jpg", "droid-cotrack/images/episode_1210/frame_0167.jpg", "droid-cotrack/images/episode_1210/frame_0246.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the piece of orange plush toy and put it in the box; Put the orange plush toy inside the basket; Put an orange plush in the basket?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the piece of orange plush toy and put it in the box; Put the orange plush toy inside the basket; Put an orange plush in the basket, execute the following phases: 1) Initial approach phase (start at [0.623, 0.534]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.624, 0.526]). The trajectory involves 247 precise waypoints with total movement distance of 0.147." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1210", "trajectory_length": 247, "key_frame_indices": [ 0, 167, 246 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1210.json" } }, { "id": "droid_cotrack_episode_10112", "task": "Put the red plushy in the box; Pick up the apple and put it in the basket; Pick up the apple plush toy and put it on the basket", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10112/frame_0000.jpg", "droid-cotrack/images/episode_10112/frame_0169.jpg", "droid-cotrack/images/episode_10112/frame_0206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the red plushy in the box; Pick up the apple and put it in the basket; Pick up the apple plush toy and put it on the basket?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the red plushy in the box; Pick up the apple and put it in the basket; Pick up the apple plush toy and put it on the basket, execute the following phases: 1) Initial approach phase (start at [0.630, 0.446]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.644, 0.352]). The trajectory involves 207 precise waypoints with total movement distance of 0.334." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10112", "trajectory_length": 207, "key_frame_indices": [ 0, 169, 206 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10112.json" } }, { "id": "droid_cotrack_episode_286", "task": "Remove the blue packet from the sink on the left and put it on the counter.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_286/frame_0000.jpg", "droid-cotrack/images/episode_286/frame_0096.jpg", "droid-cotrack/images/episode_286/frame_0180.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the blue packet from the sink on the left and put it on the counter.?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the blue packet from the sink on the left and put it on the counter., execute the following phases: 1) Initial approach phase (start at [0.520, 0.893]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.344, 0.788]). The trajectory involves 181 precise waypoints with total movement distance of 0.550." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_286", "trajectory_length": 181, "key_frame_indices": [ 0, 96, 180 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_286.json" } }, { "id": "droid_cotrack_episode_20", "task": "Open the microwave door", "selected_step": 1, "image": [ "droid-cotrack/images/episode_20/frame_0000.jpg", "droid-cotrack/images/episode_20/frame_0108.jpg", "droid-cotrack/images/episode_20/frame_0134.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the microwave door?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the microwave door, execute the following phases: 1) Initial approach phase (start at [0.591, 0.692]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.584, 0.701]). The trajectory involves 135 precise waypoints with total movement distance of 0.061." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_20", "trajectory_length": 135, "key_frame_indices": [ 0, 108, 134 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_20.json" } }, { "id": "droid_cotrack_episode_1704", "task": "Turn on the middle switch of the adapter; Turn on the fourth switch on the extension cable; Turn on the switch in the middle", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1704/frame_0000.jpg", "droid-cotrack/images/episode_1704/frame_0042.jpg", "droid-cotrack/images/episode_1704/frame_0092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn on the middle switch of the adapter; Turn on the fourth switch on the extension cable; Turn on the switch in the middle?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Turn on the middle switch of the adapter; Turn on the fourth switch on the extension cable; Turn on the switch in the middle, execute the following phases: 1) Initial approach phase (start at [0.541, 0.473]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.538, 0.470]). The trajectory involves 93 precise waypoints with total movement distance of 0.035." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1704", "trajectory_length": 93, "key_frame_indices": [ 0, 42, 92 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1704.json" } }, { "id": "droid_cotrack_episode_592", "task": "Turn off the switch of the extension cord; Turn off the big switch on the adapter; Push down on the first button from the right of the adaptor.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_592/frame_0000.jpg", "droid-cotrack/images/episode_592/frame_0157.jpg", "droid-cotrack/images/episode_592/frame_0190.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn off the switch of the extension cord; Turn off the big switch on the adapter; Push down on the first button from the right of the adaptor.?" }, { "from": "gpt", "value": "To complete this button/switch activation: Turn off the switch of the extension cord; Turn off the big switch on the adapter; Push down on the first button from the right of the adaptor., execute the following phases: 1) Initial approach phase (start at [0.588, 0.448]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.574, 0.465]). The trajectory involves 191 precise waypoints with total movement distance of 0.069." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_592", "trajectory_length": 191, "key_frame_indices": [ 0, 157, 190 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_592.json" } }, { "id": "droid_cotrack_episode_10169", "task": "Move the small ball forward and wipe the table with a yellow towel; Move the potato plush toy backward, take the towel clean the middle part of the table, then pick up the red object and move it to the right, and then continue cleaning the table with the towel; Move the potato forwards.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10169/frame_0000.jpg", "droid-cotrack/images/episode_10169/frame_0037.jpg", "droid-cotrack/images/episode_10169/frame_0432.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the small ball forward and wipe the table with a yellow towel; Move the potato plush toy backward, take the towel clean the middle part of the table, then pick up the red object and move it to the right, and then continue cleaning the table with the towel; Move the potato forwards.?" }, { "from": "gpt", "value": "To complete this repositioning: Move the small ball forward and wipe the table with a yellow towel; Move the potato plush toy backward, take the towel clean the middle part of the table, then pick up the red object and move it to the right, and then continue cleaning the table with the towel; Move the potato forwards., execute the following phases: 1) Initial approach phase (start at [0.512, 0.413]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.507, 0.417]). The trajectory involves 433 precise waypoints with total movement distance of 0.254." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10169", "trajectory_length": 433, "key_frame_indices": [ 0, 37, 432 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10169.json" } }, { "id": "droid_cotrack_episode_10080", "task": "Take the object from the stand and put it on the table; Remove the blue clip from the wooden stand; Remove the hanging peg from the object and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10080/frame_0000.jpg", "droid-cotrack/images/episode_10080/frame_0199.jpg", "droid-cotrack/images/episode_10080/frame_0240.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the object from the stand and put it on the table; Remove the blue clip from the wooden stand; Remove the hanging peg from the object and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Take the object from the stand and put it on the table; Remove the blue clip from the wooden stand; Remove the hanging peg from the object and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.763, 0.571]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.827, 0.741]). The trajectory involves 241 precise waypoints with total movement distance of 0.387." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10080", "trajectory_length": 241, "key_frame_indices": [ 0, 199, 240 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10080.json" } }, { "id": "droid_cotrack_episode_1649", "task": "Pick the marker from the bowl and put it on the table; Remove the glue stick from the bowl; Remove the glue stick from the bowl and place it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1649/frame_0000.jpg", "droid-cotrack/images/episode_1649/frame_0075.jpg", "droid-cotrack/images/episode_1649/frame_0110.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the marker from the bowl and put it on the table; Remove the glue stick from the bowl; Remove the glue stick from the bowl and place it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the marker from the bowl and put it on the table; Remove the glue stick from the bowl; Remove the glue stick from the bowl and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.578, 0.500]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.630, 0.584]). The trajectory involves 111 precise waypoints with total movement distance of 0.380." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1649", "trajectory_length": 111, "key_frame_indices": [ 0, 75, 110 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1649.json" } }, { "id": "droid_cotrack_episode_1752", "task": "Pick up the paper glue and put it in the yellow cup; Pick the green and yellow bottle and put it in the mug; Pick up the green and yellow object and place it in the yellow cup.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1752/frame_0000.jpg", "droid-cotrack/images/episode_1752/frame_0106.jpg", "droid-cotrack/images/episode_1752/frame_0176.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the paper glue and put it in the yellow cup; Pick the green and yellow bottle and put it in the mug; Pick up the green and yellow object and place it in the yellow cup.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the paper glue and put it in the yellow cup; Pick the green and yellow bottle and put it in the mug; Pick up the green and yellow object and place it in the yellow cup., execute the following phases: 1) Initial approach phase (start at [0.771, 0.465]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.585, 0.372]). The trajectory involves 177 precise waypoints with total movement distance of 0.642." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1752", "trajectory_length": 177, "key_frame_indices": [ 0, 106, 176 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1752.json" } }, { "id": "droid_cotrack_episode_1610", "task": "Put the pen in the bowl; Put the white pen in the blue bowl; Put the pen in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1610/frame_0000.jpg", "droid-cotrack/images/episode_1610/frame_0105.jpg", "droid-cotrack/images/episode_1610/frame_0137.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pen in the bowl; Put the white pen in the blue bowl; Put the pen in the bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the pen in the bowl; Put the white pen in the blue bowl; Put the pen in the bowl, execute the following phases: 1) Initial approach phase (start at [0.597, 0.617]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.509, 0.538]). The trajectory involves 138 precise waypoints with total movement distance of 0.360." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1610", "trajectory_length": 138, "key_frame_indices": [ 0, 105, 137 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1610.json" } }, { "id": "droid_cotrack_episode_6031", "task": "Put the marker inside the grey bowl; Pick up the Marker and put it in the bowl; Pick up the marker pen from the table and put it in the bowl.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6031/frame_0000.jpg", "droid-cotrack/images/episode_6031/frame_0120.jpg", "droid-cotrack/images/episode_6031/frame_0134.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker inside the grey bowl; Pick up the Marker and put it in the bowl; Pick up the marker pen from the table and put it in the bowl.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the marker inside the grey bowl; Pick up the Marker and put it in the bowl; Pick up the marker pen from the table and put it in the bowl., execute the following phases: 1) Initial approach phase (start at [0.379, 0.523]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.698]). The trajectory involves 135 precise waypoints with total movement distance of 0.586." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6031", "trajectory_length": 135, "key_frame_indices": [ 0, 120, 134 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6031.json" } }, { "id": "droid_cotrack_episode_4407", "task": "Put the white towel on top of the black bar; Put the towel on the black rack; Put the white cloth on the black stand", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4407/frame_0000.jpg", "droid-cotrack/images/episode_4407/frame_0096.jpg", "droid-cotrack/images/episode_4407/frame_0178.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the white towel on top of the black bar; Put the towel on the black rack; Put the white cloth on the black stand?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the white towel on top of the black bar; Put the towel on the black rack; Put the white cloth on the black stand, execute the following phases: 1) Initial approach phase (start at [0.472, 0.470]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.434, 0.308]). The trajectory involves 179 precise waypoints with total movement distance of 0.873." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4407", "trajectory_length": 179, "key_frame_indices": [ 0, 96, 178 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4407.json" } }, { "id": "droid_cotrack_episode_4111", "task": "Pick up the marker inside the white cup and place it on the table-top; Remove the marker from the cup; Take the marker out of the white mug", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4111/frame_0000.jpg", "droid-cotrack/images/episode_4111/frame_0031.jpg", "droid-cotrack/images/episode_4111/frame_0260.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the marker inside the white cup and place it on the table-top; Remove the marker from the cup; Take the marker out of the white mug?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the marker inside the white cup and place it on the table-top; Remove the marker from the cup; Take the marker out of the white mug, execute the following phases: 1) Initial approach phase (start at [0.350, 0.302]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.747, 0.839]). The trajectory involves 261 precise waypoints with total movement distance of 1.277." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4111", "trajectory_length": 261, "key_frame_indices": [ 0, 31, 260 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4111.json" } }, { "id": "droid_cotrack_episode_4173", "task": "Close the drawer; Close the drawer fully; Close the top left drawer", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4173/frame_0000.jpg", "droid-cotrack/images/episode_4173/frame_0056.jpg", "droid-cotrack/images/episode_4173/frame_0089.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the drawer; Close the drawer fully; Close the top left drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the drawer; Close the drawer fully; Close the top left drawer, execute the following phases: 1) Initial approach phase (start at [0.471, 0.618]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.343, 0.421]). The trajectory involves 90 precise waypoints with total movement distance of 0.284." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4173", "trajectory_length": 90, "key_frame_indices": [ 0, 56, 89 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4173.json" } }, { "id": "droid_cotrack_episode_4563", "task": "Pick the green object and move it to the left on the counter; Move the green item to the left; Move the green object to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4563/frame_0000.jpg", "droid-cotrack/images/episode_4563/frame_0067.jpg", "droid-cotrack/images/episode_4563/frame_0117.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the green object and move it to the left on the counter; Move the green item to the left; Move the green object to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Pick the green object and move it to the left on the counter; Move the green item to the left; Move the green object to the left, execute the following phases: 1) Initial approach phase (start at [0.610, 0.780]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.476, 0.608]). The trajectory involves 118 precise waypoints with total movement distance of 0.480." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4563", "trajectory_length": 118, "key_frame_indices": [ 0, 67, 117 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4563.json" } }, { "id": "droid_cotrack_episode_10050", "task": "Close the top left drawer; Close the top drawer; Close the left top drawer", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10050/frame_0000.jpg", "droid-cotrack/images/episode_10050/frame_0161.jpg", "droid-cotrack/images/episode_10050/frame_0162.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the top left drawer; Close the top drawer; Close the left top drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the top left drawer; Close the top drawer; Close the left top drawer, execute the following phases: 1) Initial approach phase (start at [0.636, 0.466]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.468, 0.456]). The trajectory involves 163 precise waypoints with total movement distance of 0.291." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10050", "trajectory_length": 163, "key_frame_indices": [ 0, 161, 162 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10050.json" } }, { "id": "droid_cotrack_episode_10196", "task": "Move the rectangle to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10196/frame_0000.jpg", "droid-cotrack/images/episode_10196/frame_0106.jpg", "droid-cotrack/images/episode_10196/frame_0166.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the rectangle to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the rectangle to the right, execute the following phases: 1) Initial approach phase (start at [0.456, 0.403]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.479, 0.515]). The trajectory involves 167 precise waypoints with total movement distance of 0.570." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10196", "trajectory_length": 167, "key_frame_indices": [ 0, 106, 166 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10196.json" } }, { "id": "droid_cotrack_episode_10289", "task": "Move the black pot from the front plate to the back plate on the stove; Move the pot to the plate in front of it; Move the black pot to the bottom right plate on the stove", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10289/frame_0000.jpg", "droid-cotrack/images/episode_10289/frame_0239.jpg", "droid-cotrack/images/episode_10289/frame_0324.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the black pot from the front plate to the back plate on the stove; Move the pot to the plate in front of it; Move the black pot to the bottom right plate on the stove?" }, { "from": "gpt", "value": "To complete this repositioning: Move the black pot from the front plate to the back plate on the stove; Move the pot to the plate in front of it; Move the black pot to the bottom right plate on the stove, execute the following phases: 1) Initial approach phase (start at [0.662, 0.503]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.748, 0.507]). The trajectory involves 325 precise waypoints with total movement distance of 0.258." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10289", "trajectory_length": 325, "key_frame_indices": [ 0, 239, 324 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10289.json" } }, { "id": "droid_cotrack_episode_1679", "task": "Move the mug from the sink to the dish rack; Put the mug on the drying rack; Remove the cup from the sink and put it in the utensil holder", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1679/frame_0000.jpg", "droid-cotrack/images/episode_1679/frame_0173.jpg", "droid-cotrack/images/episode_1679/frame_0547.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug from the sink to the dish rack; Put the mug on the drying rack; Remove the cup from the sink and put it in the utensil holder?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug from the sink to the dish rack; Put the mug on the drying rack; Remove the cup from the sink and put it in the utensil holder, execute the following phases: 1) Initial approach phase (start at [0.580, 0.496]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.532, 0.517]). The trajectory involves 548 precise waypoints with total movement distance of 1.708." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1679", "trajectory_length": 548, "key_frame_indices": [ 0, 173, 547 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1679.json" } }, { "id": "droid_cotrack_episode_1058", "task": "Remove the lid from the pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1058/frame_0000.jpg", "droid-cotrack/images/episode_1058/frame_0116.jpg", "droid-cotrack/images/episode_1058/frame_0186.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the lid from the pot?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the lid from the pot, execute the following phases: 1) Initial approach phase (start at [0.514, 0.581]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.514, 0.581]). The trajectory involves 187 precise waypoints with total movement distance of 0.090." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1058", "trajectory_length": 187, "key_frame_indices": [ 0, 116, 186 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1058.json" } }, { "id": "droid_cotrack_episode_1551", "task": "Press down on the soap dispenser", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1551/frame_0000.jpg", "droid-cotrack/images/episode_1551/frame_0146.jpg", "droid-cotrack/images/episode_1551/frame_0169.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Press down on the soap dispenser?" }, { "from": "gpt", "value": "To complete this button/switch activation: Press down on the soap dispenser, execute the following phases: 1) Initial approach phase (start at [0.658, 0.315]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.659, 0.316]). The trajectory involves 170 precise waypoints with total movement distance of 0.053." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1551", "trajectory_length": 170, "key_frame_indices": [ 0, 146, 169 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1551.json" } }, { "id": "droid_cotrack_episode_4139", "task": "Move the pot backwards", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4139/frame_0000.jpg", "droid-cotrack/images/episode_4139/frame_0145.jpg", "droid-cotrack/images/episode_4139/frame_0302.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the pot backwards?" }, { "from": "gpt", "value": "To complete this repositioning: Move the pot backwards, execute the following phases: 1) Initial approach phase (start at [0.607, 0.818]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.351, 0.773]). The trajectory involves 303 precise waypoints with total movement distance of 0.992." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4139", "trajectory_length": 303, "key_frame_indices": [ 0, 145, 302 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4139.json" } }, { "id": "droid_cotrack_episode_10276", "task": "Open the top drawer to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10276/frame_0000.jpg", "droid-cotrack/images/episode_10276/frame_0207.jpg", "droid-cotrack/images/episode_10276/frame_0243.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the top drawer to the right?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the top drawer to the right, execute the following phases: 1) Initial approach phase (start at [0.664, 0.548]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.670, 0.681]). The trajectory involves 244 precise waypoints with total movement distance of 0.248." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10276", "trajectory_length": 244, "key_frame_indices": [ 0, 207, 243 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10276.json" } }, { "id": "droid_cotrack_episode_6292", "task": "Move the cup to the other table; Move the cup from the left table to the right table; Put the mug on the table to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6292/frame_0000.jpg", "droid-cotrack/images/episode_6292/frame_0036.jpg", "droid-cotrack/images/episode_6292/frame_0174.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup to the other table; Move the cup from the left table to the right table; Put the mug on the table to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup to the other table; Move the cup from the left table to the right table; Put the mug on the table to the right, execute the following phases: 1) Initial approach phase (start at [0.516, 0.173]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.516, 0.171]). The trajectory involves 175 precise waypoints with total movement distance of 0.219." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6292", "trajectory_length": 175, "key_frame_indices": [ 0, 36, 174 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6292.json" } }, { "id": "droid_cotrack_episode_1542", "task": "Put the orange object on the pan", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1542/frame_0000.jpg", "droid-cotrack/images/episode_1542/frame_0076.jpg", "droid-cotrack/images/episode_1542/frame_0118.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange object on the pan?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the orange object on the pan, execute the following phases: 1) Initial approach phase (start at [0.623, 0.412]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.552, 0.535]). The trajectory involves 119 precise waypoints with total movement distance of 0.366." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1542", "trajectory_length": 119, "key_frame_indices": [ 0, 76, 118 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1542.json" } }, { "id": "droid_cotrack_episode_4370", "task": "Move the yellow block closer to the cardboard", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4370/frame_0000.jpg", "droid-cotrack/images/episode_4370/frame_0071.jpg", "droid-cotrack/images/episode_4370/frame_0117.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the yellow block closer to the cardboard?" }, { "from": "gpt", "value": "To complete this repositioning: Move the yellow block closer to the cardboard, execute the following phases: 1) Initial approach phase (start at [0.354, 0.792]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.528, 0.653]). The trajectory involves 118 precise waypoints with total movement distance of 0.521." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4370", "trajectory_length": 118, "key_frame_indices": [ 0, 71, 117 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4370.json" } }, { "id": "droid_cotrack_episode_23", "task": "Put the packet on the bottom shelf above the sink.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_23/frame_0000.jpg", "droid-cotrack/images/episode_23/frame_0113.jpg", "droid-cotrack/images/episode_23/frame_0205.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the packet on the bottom shelf above the sink.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the packet on the bottom shelf above the sink., execute the following phases: 1) Initial approach phase (start at [0.326, 0.847]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.308, 0.398]). The trajectory involves 206 precise waypoints with total movement distance of 0.999." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_23", "trajectory_length": 206, "key_frame_indices": [ 0, 113, 205 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_23.json" } }, { "id": "droid_cotrack_episode_6232", "task": "Turn on the third switch from the left side of the adapter; Turn on the third switch from the left; Press the 3rd button from the left on the extension cord", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6232/frame_0000.jpg", "droid-cotrack/images/episode_6232/frame_0128.jpg", "droid-cotrack/images/episode_6232/frame_0130.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn on the third switch from the left side of the adapter; Turn on the third switch from the left; Press the 3rd button from the left on the extension cord?" }, { "from": "gpt", "value": "To complete this button/switch activation: Turn on the third switch from the left side of the adapter; Turn on the third switch from the left; Press the 3rd button from the left on the extension cord, execute the following phases: 1) Initial approach phase (start at [0.553, 0.495]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.553, 0.501]). The trajectory involves 131 precise waypoints with total movement distance of 0.054." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6232", "trajectory_length": 131, "key_frame_indices": [ 0, 128, 130 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6232.json" } }, { "id": "droid_cotrack_episode_826", "task": "Put the yellow block in the cup; Place the yellow cube inside the blue cup; Pick the yellow block and put it in the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_826/frame_0000.jpg", "droid-cotrack/images/episode_826/frame_0058.jpg", "droid-cotrack/images/episode_826/frame_0097.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the yellow block in the cup; Place the yellow cube inside the blue cup; Pick the yellow block and put it in the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the yellow block in the cup; Place the yellow cube inside the blue cup; Pick the yellow block and put it in the cup, execute the following phases: 1) Initial approach phase (start at [0.503, 0.595]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.511, 0.588]). The trajectory involves 98 precise waypoints with total movement distance of 0.113." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_826", "trajectory_length": 98, "key_frame_indices": [ 0, 58, 97 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_826.json" } }, { "id": "droid_cotrack_episode_1391", "task": "Put the carrot plush toy on the pan; Pick the carrot and put it on the pan; Put the carrot plushie on the pan", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1391/frame_0000.jpg", "droid-cotrack/images/episode_1391/frame_0100.jpg", "droid-cotrack/images/episode_1391/frame_0118.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the carrot plush toy on the pan; Pick the carrot and put it on the pan; Put the carrot plushie on the pan?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the carrot plush toy on the pan; Pick the carrot and put it on the pan; Put the carrot plushie on the pan, execute the following phases: 1) Initial approach phase (start at [0.617, 0.592]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.492, 0.511]). The trajectory involves 119 precise waypoints with total movement distance of 0.332." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1391", "trajectory_length": 119, "key_frame_indices": [ 0, 100, 118 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1391.json" } }, { "id": "droid_cotrack_episode_6056", "task": "Remove the pen from the orange cup and put it on the table; Take the marker from the cup and put it on the table; Take the marker out of the orange cup and place it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6056/frame_0000.jpg", "droid-cotrack/images/episode_6056/frame_0100.jpg", "droid-cotrack/images/episode_6056/frame_0149.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the pen from the orange cup and put it on the table; Take the marker from the cup and put it on the table; Take the marker out of the orange cup and place it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the pen from the orange cup and put it on the table; Take the marker from the cup and put it on the table; Take the marker out of the orange cup and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.576, 0.375]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.576, 0.375]). The trajectory involves 150 precise waypoints with total movement distance of 0.059." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6056", "trajectory_length": 150, "key_frame_indices": [ 0, 100, 149 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6056.json" } }, { "id": "droid_cotrack_episode_4354", "task": "Take the pen from the cup and put it on the table; Remove the pen from the cup; Take the pen out of the light blue cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4354/frame_0000.jpg", "droid-cotrack/images/episode_4354/frame_0030.jpg", "droid-cotrack/images/episode_4354/frame_0269.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the pen from the cup and put it on the table; Remove the pen from the cup; Take the pen out of the light blue cup?" }, { "from": "gpt", "value": "To complete this repositioning: Take the pen from the cup and put it on the table; Remove the pen from the cup; Take the pen out of the light blue cup, execute the following phases: 1) Initial approach phase (start at [0.432, 0.652]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.698, 0.588]). The trajectory involves 270 precise waypoints with total movement distance of 1.145." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4354", "trajectory_length": 270, "key_frame_indices": [ 0, 30, 269 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4354.json" } }, { "id": "droid_cotrack_episode_907", "task": "Close the top drawer; Close the upper drawer on the right; Close the top drawer on the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_907/frame_0000.jpg", "droid-cotrack/images/episode_907/frame_0161.jpg", "droid-cotrack/images/episode_907/frame_0232.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the top drawer; Close the upper drawer on the right; Close the top drawer on the right?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the top drawer; Close the upper drawer on the right; Close the top drawer on the right, execute the following phases: 1) Initial approach phase (start at [0.666, 0.321]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.649, 0.314]). The trajectory involves 233 precise waypoints with total movement distance of 0.117." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_907", "trajectory_length": 233, "key_frame_indices": [ 0, 161, 232 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_907.json" } }, { "id": "droid_cotrack_episode_4471", "task": "Move the bottle closer to the right white cable; Move the bottle backwards; Move the bottle forward", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4471/frame_0000.jpg", "droid-cotrack/images/episode_4471/frame_0184.jpg", "droid-cotrack/images/episode_4471/frame_0272.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bottle closer to the right white cable; Move the bottle backwards; Move the bottle forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bottle closer to the right white cable; Move the bottle backwards; Move the bottle forward, execute the following phases: 1) Initial approach phase (start at [0.696, 0.569]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.565, 0.465]). The trajectory involves 273 precise waypoints with total movement distance of 0.498." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4471", "trajectory_length": 273, "key_frame_indices": [ 0, 184, 272 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4471.json" } }, { "id": "droid_cotrack_episode_6421", "task": "Put the glass lid on the black pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6421/frame_0000.jpg", "droid-cotrack/images/episode_6421/frame_0087.jpg", "droid-cotrack/images/episode_6421/frame_0192.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the glass lid on the black pot?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the glass lid on the black pot, execute the following phases: 1) Initial approach phase (start at [0.367, 0.944]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.365, 0.945]). The trajectory involves 193 precise waypoints with total movement distance of 0.083." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6421", "trajectory_length": 193, "key_frame_indices": [ 0, 87, 192 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6421.json" } }, { "id": "droid_cotrack_episode_1166", "task": "Flip the black switch on; Turn on the lamp; Turn on the lamp", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1166/frame_0000.jpg", "droid-cotrack/images/episode_1166/frame_0065.jpg", "droid-cotrack/images/episode_1166/frame_0210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Flip the black switch on; Turn on the lamp; Turn on the lamp?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Flip the black switch on; Turn on the lamp; Turn on the lamp, execute the following phases: 1) Initial approach phase (start at [0.711, 0.457]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.711, 0.457]). The trajectory involves 211 precise waypoints with total movement distance of 0.087." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1166", "trajectory_length": 211, "key_frame_indices": [ 0, 65, 210 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1166.json" } }, { "id": "droid_cotrack_episode_1952", "task": "Close the microwave door", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1952/frame_0000.jpg", "droid-cotrack/images/episode_1952/frame_0075.jpg", "droid-cotrack/images/episode_1952/frame_0254.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the microwave door?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the microwave door, execute the following phases: 1) Initial approach phase (start at [0.309, 0.859]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.315, 0.833]). The trajectory involves 255 precise waypoints with total movement distance of 0.477." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1952", "trajectory_length": 255, "key_frame_indices": [ 0, 75, 254 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1952.json" } }, { "id": "droid_cotrack_episode_1898", "task": "Cover the pot; Cover the pot with the clear lid; Cover the pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1898/frame_0000.jpg", "droid-cotrack/images/episode_1898/frame_0121.jpg", "droid-cotrack/images/episode_1898/frame_0218.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Cover the pot; Cover the pot with the clear lid; Cover the pot?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Cover the pot; Cover the pot with the clear lid; Cover the pot, execute the following phases: 1) Initial approach phase (start at [0.605, 0.658]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.732, 0.412]). The trajectory involves 219 precise waypoints with total movement distance of 0.633." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1898", "trajectory_length": 219, "key_frame_indices": [ 0, 121, 218 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1898.json" } }, { "id": "droid_cotrack_episode_2184", "task": "Open the lid of the kettle by pressing the button on the handle; Open the kettle; Open the lid of the kettle", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2184/frame_0000.jpg", "droid-cotrack/images/episode_2184/frame_0122.jpg", "droid-cotrack/images/episode_2184/frame_0217.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the lid of the kettle by pressing the button on the handle; Open the kettle; Open the lid of the kettle?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the lid of the kettle by pressing the button on the handle; Open the kettle; Open the lid of the kettle, execute the following phases: 1) Initial approach phase (start at [0.723, 0.284]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.716, 0.280]). The trajectory involves 218 precise waypoints with total movement distance of 0.164." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2184", "trajectory_length": 218, "key_frame_indices": [ 0, 122, 217 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2184.json" } }, { "id": "droid_cotrack_episode_1090", "task": "Put a knife in the cup and put some of the contents in the silver bowl into the orange bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1090/frame_0000.jpg", "droid-cotrack/images/episode_1090/frame_0294.jpg", "droid-cotrack/images/episode_1090/frame_0583.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put a knife in the cup and put some of the contents in the silver bowl into the orange bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put a knife in the cup and put some of the contents in the silver bowl into the orange bowl, execute the following phases: 1) Initial approach phase (start at [0.528, 0.693]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.531, 0.697]). The trajectory involves 584 precise waypoints with total movement distance of 0.411." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1090", "trajectory_length": 584, "key_frame_indices": [ 0, 294, 583 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1090.json" } }, { "id": "droid_cotrack_episode_4498", "task": "Put the lid on the table; Pick up the lid from the pot and put it on the table; Put the lid on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4498/frame_0000.jpg", "droid-cotrack/images/episode_4498/frame_0219.jpg", "droid-cotrack/images/episode_4498/frame_0422.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the lid on the table; Pick up the lid from the pot and put it on the table; Put the lid on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the lid on the table; Pick up the lid from the pot and put it on the table; Put the lid on the table, execute the following phases: 1) Initial approach phase (start at [0.700, 0.688]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.680, 0.657]). The trajectory involves 423 precise waypoints with total movement distance of 0.560." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4498", "trajectory_length": 423, "key_frame_indices": [ 0, 219, 422 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4498.json" } }, { "id": "droid_cotrack_episode_6437", "task": "Open the topmost drawer; Open the topmost drawer on the left; Pull the top drawer open", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6437/frame_0000.jpg", "droid-cotrack/images/episode_6437/frame_0149.jpg", "droid-cotrack/images/episode_6437/frame_0208.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the topmost drawer; Open the topmost drawer on the left; Pull the top drawer open?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the topmost drawer; Open the topmost drawer on the left; Pull the top drawer open, execute the following phases: 1) Initial approach phase (start at [0.814, 0.416]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.815, 0.408]). The trajectory involves 209 precise waypoints with total movement distance of 0.117." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6437", "trajectory_length": 209, "key_frame_indices": [ 0, 149, 208 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6437.json" } }, { "id": "droid_cotrack_episode_1446", "task": "Fold the towel on the table; Fold the tea towel; Fold the white and green cloth on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1446/frame_0000.jpg", "droid-cotrack/images/episode_1446/frame_0238.jpg", "droid-cotrack/images/episode_1446/frame_0421.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the towel on the table; Fold the tea towel; Fold the white and green cloth on the table?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Fold the towel on the table; Fold the tea towel; Fold the white and green cloth on the table, execute the following phases: 1) Initial approach phase (start at [0.554, 0.745]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.529, 0.665]). The trajectory involves 422 precise waypoints with total movement distance of 1.032." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1446", "trajectory_length": 422, "key_frame_indices": [ 0, 238, 421 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1446.json" } }, { "id": "droid_cotrack_episode_2078", "task": "Put the blue object inside the sink; Remove the blue pan from the dish rack and place it in the sink; Put the blue pan in the sink", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2078/frame_0000.jpg", "droid-cotrack/images/episode_2078/frame_0094.jpg", "droid-cotrack/images/episode_2078/frame_0309.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the blue object inside the sink; Remove the blue pan from the dish rack and place it in the sink; Put the blue pan in the sink?" }, { "from": "gpt", "value": "To complete this repositioning: Put the blue object inside the sink; Remove the blue pan from the dish rack and place it in the sink; Put the blue pan in the sink, execute the following phases: 1) Initial approach phase (start at [0.513, 0.571]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.510, 0.573]). The trajectory involves 310 precise waypoints with total movement distance of 0.797." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2078", "trajectory_length": 310, "key_frame_indices": [ 0, 94, 309 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2078.json" } }, { "id": "droid_cotrack_episode_1586", "task": "Pick the black object and put it in the red bowl; Pick the black dumbbell on the table and put it on the plate; Pick up the small black object on the table and place it in the red bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1586/frame_0000.jpg", "droid-cotrack/images/episode_1586/frame_0258.jpg", "droid-cotrack/images/episode_1586/frame_0411.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the black object and put it in the red bowl; Pick the black dumbbell on the table and put it on the plate; Pick up the small black object on the table and place it in the red bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the black object and put it in the red bowl; Pick the black dumbbell on the table and put it on the plate; Pick up the small black object on the table and place it in the red bowl, execute the following phases: 1) Initial approach phase (start at [0.479, 0.916]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.481, 0.916]). The trajectory involves 412 precise waypoints with total movement distance of 0.205." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1586", "trajectory_length": 412, "key_frame_indices": [ 0, 258, 411 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1586.json" } }, { "id": "droid_cotrack_episode_1006", "task": "Press on the remote", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1006/frame_0000.jpg", "droid-cotrack/images/episode_1006/frame_0022.jpg", "droid-cotrack/images/episode_1006/frame_0133.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Press on the remote?" }, { "from": "gpt", "value": "To complete this button/switch activation: Press on the remote, execute the following phases: 1) Initial approach phase (start at [0.344, 0.738]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.344, 0.734]). The trajectory involves 134 precise waypoints with total movement distance of 0.056." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1006", "trajectory_length": 134, "key_frame_indices": [ 0, 22, 133 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1006.json" } }, { "id": "droid_cotrack_episode_6430", "task": "Take the egg out of the silver basin; Take the egg out of the silver bowl and put it on the table.; Remove the egg from the silver bowl and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6430/frame_0000.jpg", "droid-cotrack/images/episode_6430/frame_0107.jpg", "droid-cotrack/images/episode_6430/frame_0187.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the egg out of the silver basin; Take the egg out of the silver bowl and put it on the table.; Remove the egg from the silver bowl and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Take the egg out of the silver basin; Take the egg out of the silver bowl and put it on the table.; Remove the egg from the silver bowl and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.464, 0.549]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.463, 0.549]). The trajectory involves 188 precise waypoints with total movement distance of 0.050." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6430", "trajectory_length": 188, "key_frame_indices": [ 0, 107, 187 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6430.json" } }, { "id": "droid_cotrack_episode_6163", "task": "Press the escape key on the keyboard.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6163/frame_0000.jpg", "droid-cotrack/images/episode_6163/frame_0171.jpg", "droid-cotrack/images/episode_6163/frame_0177.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Press the escape key on the keyboard.?" }, { "from": "gpt", "value": "To complete this button/switch activation: Press the escape key on the keyboard., execute the following phases: 1) Initial approach phase (start at [0.441, 0.741]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.442, 0.741]). The trajectory involves 178 precise waypoints with total movement distance of 0.072." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6163", "trajectory_length": 178, "key_frame_indices": [ 0, 171, 177 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6163.json" } }, { "id": "droid_cotrack_episode_4517", "task": "Remove the bottle from the bottom shelf of the open cabinet and put it on the counter; Put the bottle in cabinet on the countertop; Remove the bottle from the top cabinet", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4517/frame_0000.jpg", "droid-cotrack/images/episode_4517/frame_0364.jpg", "droid-cotrack/images/episode_4517/frame_0432.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the bottle from the bottom shelf of the open cabinet and put it on the counter; Put the bottle in cabinet on the countertop; Remove the bottle from the top cabinet?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the bottle from the bottom shelf of the open cabinet and put it on the counter; Put the bottle in cabinet on the countertop; Remove the bottle from the top cabinet, execute the following phases: 1) Initial approach phase (start at [0.693, 0.190]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.851, 0.320]). The trajectory involves 433 precise waypoints with total movement distance of 2.272." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4517", "trajectory_length": 433, "key_frame_indices": [ 0, 364, 432 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4517.json" } }, { "id": "droid_cotrack_episode_2190", "task": "Put the orange toy in the pot; Place the toy bread in the silver pot; Put the orange toy in the pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2190/frame_0000.jpg", "droid-cotrack/images/episode_2190/frame_0042.jpg", "droid-cotrack/images/episode_2190/frame_0119.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange toy in the pot; Place the toy bread in the silver pot; Put the orange toy in the pot?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the orange toy in the pot; Place the toy bread in the silver pot; Put the orange toy in the pot, execute the following phases: 1) Initial approach phase (start at [0.451, 0.544]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.449, 0.545]). The trajectory involves 120 precise waypoints with total movement distance of 0.051." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2190", "trajectory_length": 120, "key_frame_indices": [ 0, 42, 119 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2190.json" } }, { "id": "droid_cotrack_episode_345", "task": "Move the bag to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_345/frame_0000.jpg", "droid-cotrack/images/episode_345/frame_0142.jpg", "droid-cotrack/images/episode_345/frame_0231.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bag to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bag to the left, execute the following phases: 1) Initial approach phase (start at [0.609, 0.404]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.606, 0.400]). The trajectory involves 232 precise waypoints with total movement distance of 0.092." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_345", "trajectory_length": 232, "key_frame_indices": [ 0, 142, 231 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_345.json" } }, { "id": "droid_cotrack_episode_6759", "task": "Open the left door on the middle cabinet; Open the left door of the middle drawer; Open the left door of the second cabinet", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6759/frame_0000.jpg", "droid-cotrack/images/episode_6759/frame_0228.jpg", "droid-cotrack/images/episode_6759/frame_0291.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the left door on the middle cabinet; Open the left door of the middle drawer; Open the left door of the second cabinet?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the left door on the middle cabinet; Open the left door of the middle drawer; Open the left door of the second cabinet, execute the following phases: 1) Initial approach phase (start at [0.457, 0.508]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.456, 0.504]). The trajectory involves 292 precise waypoints with total movement distance of 0.137." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6759", "trajectory_length": 292, "key_frame_indices": [ 0, 228, 291 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6759.json" } }, { "id": "droid_cotrack_episode_10127", "task": "Slide the towel slightly to the left; Slide the towel to the left; Move the towel to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10127/frame_0000.jpg", "droid-cotrack/images/episode_10127/frame_0103.jpg", "droid-cotrack/images/episode_10127/frame_0151.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the towel slightly to the left; Slide the towel to the left; Move the towel to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the towel slightly to the left; Slide the towel to the left; Move the towel to the left, execute the following phases: 1) Initial approach phase (start at [0.749, 0.660]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.587, 0.438]). The trajectory involves 152 precise waypoints with total movement distance of 0.332." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10127", "trajectory_length": 152, "key_frame_indices": [ 0, 103, 151 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10127.json" } }, { "id": "droid_cotrack_episode_2005", "task": "Pick up the clothes from the headrest of the chair and put them in the box; Put the towels in the storage container.; Move the shirts on the chair to the crate", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2005/frame_0000.jpg", "droid-cotrack/images/episode_2005/frame_0116.jpg", "droid-cotrack/images/episode_2005/frame_0197.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the clothes from the headrest of the chair and put them in the box; Put the towels in the storage container.; Move the shirts on the chair to the crate?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the clothes from the headrest of the chair and put them in the box; Put the towels in the storage container.; Move the shirts on the chair to the crate, execute the following phases: 1) Initial approach phase (start at [0.511, 0.719]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.681, 0.618]). The trajectory involves 198 precise waypoints with total movement distance of 0.734." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2005", "trajectory_length": 198, "key_frame_indices": [ 0, 116, 197 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2005.json" } }, { "id": "droid_cotrack_episode_401", "task": "Place the yellow block in the blue cup; Put the yellow block in the cup; Put the yellow cube inside the blue cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_401/frame_0000.jpg", "droid-cotrack/images/episode_401/frame_0058.jpg", "droid-cotrack/images/episode_401/frame_0090.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the yellow block in the blue cup; Put the yellow block in the cup; Put the yellow cube inside the blue cup?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Place the yellow block in the blue cup; Put the yellow block in the cup; Put the yellow cube inside the blue cup, execute the following phases: 1) Initial approach phase (start at [0.483, 0.597]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.588, 0.443]). The trajectory involves 91 precise waypoints with total movement distance of 0.368." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_401", "trajectory_length": 91, "key_frame_indices": [ 0, 58, 90 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_401.json" } }, { "id": "droid_cotrack_episode_6714", "task": "Open the toaster oven door; Open the door of the oven; Open the oven", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6714/frame_0000.jpg", "droid-cotrack/images/episode_6714/frame_0150.jpg", "droid-cotrack/images/episode_6714/frame_0271.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the toaster oven door; Open the door of the oven; Open the oven?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the toaster oven door; Open the door of the oven; Open the oven, execute the following phases: 1) Initial approach phase (start at [0.464, 0.502]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.480, 0.595]). The trajectory involves 272 precise waypoints with total movement distance of 0.393." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6714", "trajectory_length": 272, "key_frame_indices": [ 0, 150, 271 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6714.json" } }, { "id": "droid_cotrack_episode_4056", "task": "Push the curtain to the right; Move the black curtain to the right; Push the curtain to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4056/frame_0000.jpg", "droid-cotrack/images/episode_4056/frame_0092.jpg", "droid-cotrack/images/episode_4056/frame_0157.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the curtain to the right; Move the black curtain to the right; Push the curtain to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Push the curtain to the right; Move the black curtain to the right; Push the curtain to the right, execute the following phases: 1) Initial approach phase (start at [0.550, 0.850]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.781, 0.860]). The trajectory involves 158 precise waypoints with total movement distance of 0.441." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4056", "trajectory_length": 158, "key_frame_indices": [ 0, 92, 157 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4056.json" } }, { "id": "droid_cotrack_episode_4006", "task": "Move the box to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4006/frame_0000.jpg", "droid-cotrack/images/episode_4006/frame_0084.jpg", "droid-cotrack/images/episode_4006/frame_0169.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the box to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the box to the right, execute the following phases: 1) Initial approach phase (start at [0.614, 0.516]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.664, 0.372]). The trajectory involves 170 precise waypoints with total movement distance of 0.581." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4006", "trajectory_length": 170, "key_frame_indices": [ 0, 84, 169 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4006.json" } }, { "id": "droid_cotrack_episode_1661", "task": "Remove the orange plush toy from the box and put it on the base top; Pick up the orange plush toy from the box and put it on the right side of the sink; Move the orange plush toy from the box to the right side of the sink", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1661/frame_0000.jpg", "droid-cotrack/images/episode_1661/frame_0097.jpg", "droid-cotrack/images/episode_1661/frame_0184.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the orange plush toy from the box and put it on the base top; Pick up the orange plush toy from the box and put it on the right side of the sink; Move the orange plush toy from the box to the right side of the sink?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Remove the orange plush toy from the box and put it on the base top; Pick up the orange plush toy from the box and put it on the right side of the sink; Move the orange plush toy from the box to the right side of the sink, execute the following phases: 1) Initial approach phase (start at [0.496, 0.692]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.667, 0.453]). The trajectory involves 185 precise waypoints with total movement distance of 0.862." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1661", "trajectory_length": 185, "key_frame_indices": [ 0, 97, 184 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1661.json" } }, { "id": "droid_cotrack_episode_4296", "task": "Open the drawer; Open the drawer; Open the red drawer.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4296/frame_0000.jpg", "droid-cotrack/images/episode_4296/frame_0203.jpg", "droid-cotrack/images/episode_4296/frame_0231.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the drawer; Open the drawer; Open the red drawer.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the drawer; Open the drawer; Open the red drawer., execute the following phases: 1) Initial approach phase (start at [0.420, 0.455]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.409, 0.512]). The trajectory involves 232 precise waypoints with total movement distance of 0.197." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4296", "trajectory_length": 232, "key_frame_indices": [ 0, 203, 231 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4296.json" } }, { "id": "droid_cotrack_episode_6036", "task": "Put the candy bar in the open cabinet", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6036/frame_0000.jpg", "droid-cotrack/images/episode_6036/frame_0157.jpg", "droid-cotrack/images/episode_6036/frame_0308.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the candy bar in the open cabinet?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Put the candy bar in the open cabinet, execute the following phases: 1) Initial approach phase (start at [0.380, 0.805]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.341, 0.314]). The trajectory involves 309 precise waypoints with total movement distance of 1.369." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6036", "trajectory_length": 309, "key_frame_indices": [ 0, 157, 308 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6036.json" } }, { "id": "droid_cotrack_episode_6713", "task": "Remove the doll from the pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6713/frame_0000.jpg", "droid-cotrack/images/episode_6713/frame_0083.jpg", "droid-cotrack/images/episode_6713/frame_0116.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the doll from the pot?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the doll from the pot, execute the following phases: 1) Initial approach phase (start at [0.423, 0.402]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.491, 0.360]). The trajectory involves 117 precise waypoints with total movement distance of 0.196." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6713", "trajectory_length": 117, "key_frame_indices": [ 0, 83, 116 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6713.json" } }, { "id": "droid_cotrack_episode_2045", "task": "Cover the grey pot with the pot on the stove; Put the lid on the pot; Take the lid and cover the pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2045/frame_0000.jpg", "droid-cotrack/images/episode_2045/frame_0150.jpg", "droid-cotrack/images/episode_2045/frame_0327.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Cover the grey pot with the pot on the stove; Put the lid on the pot; Take the lid and cover the pot?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Cover the grey pot with the pot on the stove; Put the lid on the pot; Take the lid and cover the pot, execute the following phases: 1) Initial approach phase (start at [0.573, 0.894]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.574, 0.896]). The trajectory involves 328 precise waypoints with total movement distance of 0.221." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2045", "trajectory_length": 328, "key_frame_indices": [ 0, 150, 327 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2045.json" } }, { "id": "droid_cotrack_episode_6140", "task": "Pick up the can and place it in the box", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6140/frame_0000.jpg", "droid-cotrack/images/episode_6140/frame_0089.jpg", "droid-cotrack/images/episode_6140/frame_0161.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the can and place it in the box?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the can and place it in the box, execute the following phases: 1) Initial approach phase (start at [0.507, 0.575]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.487, 0.529]). The trajectory involves 162 precise waypoints with total movement distance of 0.596." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6140", "trajectory_length": 162, "key_frame_indices": [ 0, 89, 161 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6140.json" } }, { "id": "droid_cotrack_episode_1924", "task": "Move the cup backwards; Move the blue cup to the left; Move the blue cup backwards.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1924/frame_0000.jpg", "droid-cotrack/images/episode_1924/frame_0055.jpg", "droid-cotrack/images/episode_1924/frame_0101.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup backwards; Move the blue cup to the left; Move the blue cup backwards.?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup backwards; Move the blue cup to the left; Move the blue cup backwards., execute the following phases: 1) Initial approach phase (start at [0.516, 0.381]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.539, 0.282]). The trajectory involves 102 precise waypoints with total movement distance of 0.462." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1924", "trajectory_length": 102, "key_frame_indices": [ 0, 55, 101 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1924.json" } }, { "id": "droid_cotrack_episode_1602", "task": "Slide the pot slightly backwards.; Move the silver pot forwards.; Move the pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1602/frame_0000.jpg", "droid-cotrack/images/episode_1602/frame_0076.jpg", "droid-cotrack/images/episode_1602/frame_0145.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the pot slightly backwards.; Move the silver pot forwards.; Move the pot?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the pot slightly backwards.; Move the silver pot forwards.; Move the pot, execute the following phases: 1) Initial approach phase (start at [0.744, 0.574]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.746, 0.580]). The trajectory involves 146 precise waypoints with total movement distance of 0.135." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1602", "trajectory_length": 146, "key_frame_indices": [ 0, 76, 145 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1602.json" } }, { "id": "droid_cotrack_episode_1074", "task": "Turn on the air fryer; Push a button on the air fryer.; Press on the air fryer", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1074/frame_0000.jpg", "droid-cotrack/images/episode_1074/frame_0028.jpg", "droid-cotrack/images/episode_1074/frame_0352.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn on the air fryer; Push a button on the air fryer.; Press on the air fryer?" }, { "from": "gpt", "value": "To complete this button/switch activation: Turn on the air fryer; Push a button on the air fryer.; Press on the air fryer, execute the following phases: 1) Initial approach phase (start at [0.575, 0.502]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.573, 0.503]). The trajectory involves 353 precise waypoints with total movement distance of 0.294." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1074", "trajectory_length": 353, "key_frame_indices": [ 0, 28, 352 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1074.json" } }, { "id": "droid_cotrack_episode_1831", "task": "Take the banana plush toy out of the black pot and put it in the box; Put the banana plushy in the box; Pick up the banana plush toy from the small pot and put it in the box", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1831/frame_0000.jpg", "droid-cotrack/images/episode_1831/frame_0182.jpg", "droid-cotrack/images/episode_1831/frame_0228.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the banana plush toy out of the black pot and put it in the box; Put the banana plushy in the box; Pick up the banana plush toy from the small pot and put it in the box?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Take the banana plush toy out of the black pot and put it in the box; Put the banana plushy in the box; Pick up the banana plush toy from the small pot and put it in the box, execute the following phases: 1) Initial approach phase (start at [0.741, 0.238]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.921, 0.341]). The trajectory involves 229 precise waypoints with total movement distance of 0.726." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1831", "trajectory_length": 229, "key_frame_indices": [ 0, 182, 228 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1831.json" } }, { "id": "droid_cotrack_episode_4251", "task": "Put the black cloth on the head rest; Put the black clothing item on the chair; Put the black cloth on the chair", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4251/frame_0000.jpg", "droid-cotrack/images/episode_4251/frame_0089.jpg", "droid-cotrack/images/episode_4251/frame_0221.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the black cloth on the head rest; Put the black clothing item on the chair; Put the black cloth on the chair?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the black cloth on the head rest; Put the black clothing item on the chair; Put the black cloth on the chair, execute the following phases: 1) Initial approach phase (start at [0.724, 0.565]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.491, 0.678]). The trajectory involves 222 precise waypoints with total movement distance of 1.048." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4251", "trajectory_length": 222, "key_frame_indices": [ 0, 89, 221 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4251.json" } }, { "id": "droid_cotrack_episode_195", "task": "Take the marker out of the mug and put it on the table; Put the marker on the table; Remove the marker from the mug cup and place it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_195/frame_0000.jpg", "droid-cotrack/images/episode_195/frame_0160.jpg", "droid-cotrack/images/episode_195/frame_0193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the marker out of the mug and put it on the table; Put the marker on the table; Remove the marker from the mug cup and place it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Take the marker out of the mug and put it on the table; Put the marker on the table; Remove the marker from the mug cup and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.476, 0.434]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.457, 0.478]). The trajectory involves 194 precise waypoints with total movement distance of 0.158." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_195", "trajectory_length": 194, "key_frame_indices": [ 0, 160, 193 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_195.json" } }, { "id": "droid_cotrack_episode_1792", "task": "Put the empty bottle of water on the plate next to it", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1792/frame_0000.jpg", "droid-cotrack/images/episode_1792/frame_0106.jpg", "droid-cotrack/images/episode_1792/frame_0199.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the empty bottle of water on the plate next to it?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the empty bottle of water on the plate next to it, execute the following phases: 1) Initial approach phase (start at [0.508, 0.690]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.395, 0.765]). The trajectory involves 200 precise waypoints with total movement distance of 0.412." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1792", "trajectory_length": 200, "key_frame_indices": [ 0, 106, 199 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1792.json" } }, { "id": "droid_cotrack_episode_4065", "task": "Put the marker in the pot; Put the black marker inside the pot; Pick the marker from the cup and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4065/frame_0000.jpg", "droid-cotrack/images/episode_4065/frame_0092.jpg", "droid-cotrack/images/episode_4065/frame_0172.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the pot; Put the black marker inside the pot; Pick the marker from the cup and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the marker in the pot; Put the black marker inside the pot; Pick the marker from the cup and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.613, 0.595]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.529, 0.464]). The trajectory involves 173 precise waypoints with total movement distance of 0.563." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4065", "trajectory_length": 173, "key_frame_indices": [ 0, 92, 172 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4065.json" } }, { "id": "droid_cotrack_episode_1584", "task": "Remove one bottle from the container and place it on the right side of the tray; Remove a bottle from the container and put it on the segment tray; Take one bottle from the container and put it on the tray", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1584/frame_0000.jpg", "droid-cotrack/images/episode_1584/frame_0029.jpg", "droid-cotrack/images/episode_1584/frame_0263.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove one bottle from the container and place it on the right side of the tray; Remove a bottle from the container and put it on the segment tray; Take one bottle from the container and put it on the tray?" }, { "from": "gpt", "value": "To complete this repositioning: Remove one bottle from the container and place it on the right side of the tray; Remove a bottle from the container and put it on the segment tray; Take one bottle from the container and put it on the tray, execute the following phases: 1) Initial approach phase (start at [0.723, 0.207]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.823, 0.489]). The trajectory involves 264 precise waypoints with total movement distance of 0.657." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1584", "trajectory_length": 264, "key_frame_indices": [ 0, 29, 263 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1584.json" } }, { "id": "droid_cotrack_episode_4292", "task": "Pick up the white plate from the countertop and put it in the dishwasher.; Put the plate inside the dishwasher; Pick up the plate and put it in front of the second plate in the dishwasher", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4292/frame_0000.jpg", "droid-cotrack/images/episode_4292/frame_0224.jpg", "droid-cotrack/images/episode_4292/frame_0406.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the white plate from the countertop and put it in the dishwasher.; Put the plate inside the dishwasher; Pick up the plate and put it in front of the second plate in the dishwasher?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the white plate from the countertop and put it in the dishwasher.; Put the plate inside the dishwasher; Pick up the plate and put it in front of the second plate in the dishwasher, execute the following phases: 1) Initial approach phase (start at [0.414, 0.535]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.436, 0.526]). The trajectory involves 407 precise waypoints with total movement distance of 0.275." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4292", "trajectory_length": 407, "key_frame_indices": [ 0, 224, 406 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4292.json" } }, { "id": "droid_cotrack_episode_6296", "task": "Move the mug forward slightly; Move the mug forwards.; Move the cup forward", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6296/frame_0000.jpg", "droid-cotrack/images/episode_6296/frame_0084.jpg", "droid-cotrack/images/episode_6296/frame_0123.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug forward slightly; Move the mug forwards.; Move the cup forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug forward slightly; Move the mug forwards.; Move the cup forward, execute the following phases: 1) Initial approach phase (start at [0.441, 0.509]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.424, 0.584]). The trajectory involves 124 precise waypoints with total movement distance of 0.125." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6296", "trajectory_length": 124, "key_frame_indices": [ 0, 84, 123 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6296.json" } }, { "id": "droid_cotrack_episode_1186", "task": "Put the marker in the black cup; Put the pen in the cup; Put the yellow marker inside the white and black mug", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1186/frame_0000.jpg", "droid-cotrack/images/episode_1186/frame_0113.jpg", "droid-cotrack/images/episode_1186/frame_0254.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the black cup; Put the pen in the cup; Put the yellow marker inside the white and black mug?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the marker in the black cup; Put the pen in the cup; Put the yellow marker inside the white and black mug, execute the following phases: 1) Initial approach phase (start at [0.489, 0.564]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.641, 0.551]). The trajectory involves 255 precise waypoints with total movement distance of 0.652." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1186", "trajectory_length": 255, "key_frame_indices": [ 0, 113, 254 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1186.json" } }, { "id": "droid_cotrack_episode_1536", "task": "Put the pen in the bowl; Put the black marker in the bowl; Put the marker in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1536/frame_0000.jpg", "droid-cotrack/images/episode_1536/frame_0057.jpg", "droid-cotrack/images/episode_1536/frame_0102.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pen in the bowl; Put the black marker in the bowl; Put the marker in the bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the pen in the bowl; Put the black marker in the bowl; Put the marker in the bowl, execute the following phases: 1) Initial approach phase (start at [0.573, 0.723]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.541, 0.534]). The trajectory involves 103 precise waypoints with total movement distance of 0.272." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1536", "trajectory_length": 103, "key_frame_indices": [ 0, 57, 102 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1536.json" } }, { "id": "droid_cotrack_episode_1781", "task": "Put a tissue on the table; Remove a tissue from the tissue box; Take a tissue paper from the tissue box and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1781/frame_0000.jpg", "droid-cotrack/images/episode_1781/frame_0128.jpg", "droid-cotrack/images/episode_1781/frame_0172.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put a tissue on the table; Remove a tissue from the tissue box; Take a tissue paper from the tissue box and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Put a tissue on the table; Remove a tissue from the tissue box; Take a tissue paper from the tissue box and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.668, 0.801]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.666, 0.799]). The trajectory involves 173 precise waypoints with total movement distance of 0.091." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1781", "trajectory_length": 173, "key_frame_indices": [ 0, 128, 172 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1781.json" } }, { "id": "droid_cotrack_episode_6638", "task": "Pick the tool with the orange handle and put it in the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6638/frame_0000.jpg", "droid-cotrack/images/episode_6638/frame_0137.jpg", "droid-cotrack/images/episode_6638/frame_0165.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the tool with the orange handle and put it in the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the tool with the orange handle and put it in the cup, execute the following phases: 1) Initial approach phase (start at [0.614, 0.525]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.670, 0.523]). The trajectory involves 166 precise waypoints with total movement distance of 0.445." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6638", "trajectory_length": 166, "key_frame_indices": [ 0, 137, 165 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6638.json" } }, { "id": "droid_cotrack_episode_1904", "task": "Take the pen out of the mug and put it on the counter; Remove the pen from the mug and put it on the counter; Remove the pen from the mug", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1904/frame_0000.jpg", "droid-cotrack/images/episode_1904/frame_0001.jpg", "droid-cotrack/images/episode_1904/frame_0131.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the pen out of the mug and put it on the counter; Remove the pen from the mug and put it on the counter; Remove the pen from the mug?" }, { "from": "gpt", "value": "To complete this repositioning: Take the pen out of the mug and put it on the counter; Remove the pen from the mug and put it on the counter; Remove the pen from the mug, execute the following phases: 1) Initial approach phase (start at [0.467, 0.229]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.493, 0.360]). The trajectory involves 132 precise waypoints with total movement distance of 1.207." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1904", "trajectory_length": 132, "key_frame_indices": [ 0, 1, 131 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1904.json" } }, { "id": "droid_cotrack_episode_6007", "task": "Put the marker in the mug; Put the marker inside the mug; Put the marker in the mug", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6007/frame_0000.jpg", "droid-cotrack/images/episode_6007/frame_0123.jpg", "droid-cotrack/images/episode_6007/frame_0238.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the mug; Put the marker inside the mug; Put the marker in the mug?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the marker in the mug; Put the marker inside the mug; Put the marker in the mug, execute the following phases: 1) Initial approach phase (start at [0.575, 0.402]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.496, 0.318]). The trajectory involves 239 precise waypoints with total movement distance of 0.543." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6007", "trajectory_length": 239, "key_frame_indices": [ 0, 123, 238 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6007.json" } }, { "id": "droid_cotrack_episode_1012", "task": "Pick up a sachet from the counter and put it in the bowl; Place a sachet in the bowl; Put one sachet in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1012/frame_0000.jpg", "droid-cotrack/images/episode_1012/frame_0103.jpg", "droid-cotrack/images/episode_1012/frame_0148.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up a sachet from the counter and put it in the bowl; Place a sachet in the bowl; Put one sachet in the bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up a sachet from the counter and put it in the bowl; Place a sachet in the bowl; Put one sachet in the bowl, execute the following phases: 1) Initial approach phase (start at [0.738, 0.487]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.587, 0.367]). The trajectory involves 149 precise waypoints with total movement distance of 0.383." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1012", "trajectory_length": 149, "key_frame_indices": [ 0, 103, 148 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1012.json" } }, { "id": "droid_cotrack_episode_1941", "task": "Push the faucet handle upwards; Open the tap; Push the faucet handle upwards", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1941/frame_0000.jpg", "droid-cotrack/images/episode_1941/frame_0090.jpg", "droid-cotrack/images/episode_1941/frame_0146.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the faucet handle upwards; Open the tap; Push the faucet handle upwards?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Push the faucet handle upwards; Open the tap; Push the faucet handle upwards, execute the following phases: 1) Initial approach phase (start at [0.172, 0.335]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.158, 0.322]). The trajectory involves 147 precise waypoints with total movement distance of 0.084." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1941", "trajectory_length": 147, "key_frame_indices": [ 0, 90, 146 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1941.json" } }, { "id": "droid_cotrack_episode_4476", "task": "Put the green pen in the clear bowl; Put the pen in the bowl; Place the marker in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4476/frame_0000.jpg", "droid-cotrack/images/episode_4476/frame_0059.jpg", "droid-cotrack/images/episode_4476/frame_0107.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the green pen in the clear bowl; Put the pen in the bowl; Place the marker in the bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the green pen in the clear bowl; Put the pen in the bowl; Place the marker in the bowl, execute the following phases: 1) Initial approach phase (start at [0.526, 0.588]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.526, 0.586]). The trajectory involves 108 precise waypoints with total movement distance of 0.348." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4476", "trajectory_length": 108, "key_frame_indices": [ 0, 59, 107 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4476.json" } }, { "id": "droid_cotrack_episode_1048", "task": "Pick the big spoon and put it in the glass jar; Put the black spoon in the bottle; Pick up the black spoon and put it in the glass jar.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1048/frame_0000.jpg", "droid-cotrack/images/episode_1048/frame_0371.jpg", "droid-cotrack/images/episode_1048/frame_0391.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the big spoon and put it in the glass jar; Put the black spoon in the bottle; Pick up the black spoon and put it in the glass jar.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the big spoon and put it in the glass jar; Put the black spoon in the bottle; Pick up the black spoon and put it in the glass jar., execute the following phases: 1) Initial approach phase (start at [0.417, 0.653]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.503, 0.466]). The trajectory involves 392 precise waypoints with total movement distance of 1.861." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1048", "trajectory_length": 392, "key_frame_indices": [ 0, 371, 391 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1048.json" } }, { "id": "droid_cotrack_episode_276", "task": "Pick up the white mug on the left side of the counter, put it under the running faucet then place it down on the right side of the counter; Pick up the cup from the left put some water on the sink and put it on the right; Fetch water in the right white cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_276/frame_0000.jpg", "droid-cotrack/images/episode_276/frame_0495.jpg", "droid-cotrack/images/episode_276/frame_0614.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the white mug on the left side of the counter, put it under the running faucet then place it down on the right side of the counter; Pick up the cup from the left put some water on the sink and put it on the right; Fetch water in the right white cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the white mug on the left side of the counter, put it under the running faucet then place it down on the right side of the counter; Pick up the cup from the left put some water on the sink and put it on the right; Fetch water in the right white cup, execute the following phases: 1) Initial approach phase (start at [0.121, 0.710]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.282, 0.708]). The trajectory involves 615 precise waypoints with total movement distance of 2.022." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_276", "trajectory_length": 615, "key_frame_indices": [ 0, 495, 614 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_276.json" } }, { "id": "droid_cotrack_episode_6776", "task": "Put the marker into the mug.; Pick up the marker from the table and put it in the cup; Put a marker in the mug cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6776/frame_0000.jpg", "droid-cotrack/images/episode_6776/frame_0170.jpg", "droid-cotrack/images/episode_6776/frame_0209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker into the mug.; Pick up the marker from the table and put it in the cup; Put a marker in the mug cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the marker into the mug.; Pick up the marker from the table and put it in the cup; Put a marker in the mug cup, execute the following phases: 1) Initial approach phase (start at [0.529, 0.451]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.595, 0.418]). The trajectory involves 210 precise waypoints with total movement distance of 0.295." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6776", "trajectory_length": 210, "key_frame_indices": [ 0, 170, 209 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6776.json" } }, { "id": "droid_cotrack_episode_4270", "task": "Fold the dish cloth; Fold the towel on the table; Fold the towel three times over.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4270/frame_0000.jpg", "droid-cotrack/images/episode_4270/frame_0165.jpg", "droid-cotrack/images/episode_4270/frame_0301.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the dish cloth; Fold the towel on the table; Fold the towel three times over.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Fold the dish cloth; Fold the towel on the table; Fold the towel three times over., execute the following phases: 1) Initial approach phase (start at [0.536, 0.683]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.533, 0.671]). The trajectory involves 302 precise waypoints with total movement distance of 0.254." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4270", "trajectory_length": 302, "key_frame_indices": [ 0, 165, 301 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4270.json" } }, { "id": "droid_cotrack_episode_4464", "task": "Place the coffee pod upright", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4464/frame_0000.jpg", "droid-cotrack/images/episode_4464/frame_0121.jpg", "droid-cotrack/images/episode_4464/frame_0182.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the coffee pod upright?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Place the coffee pod upright, execute the following phases: 1) Initial approach phase (start at [0.483, 0.593]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.478, 0.601]). The trajectory involves 183 precise waypoints with total movement distance of 0.139." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4464", "trajectory_length": 183, "key_frame_indices": [ 0, 121, 182 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4464.json" } }, { "id": "droid_cotrack_episode_783", "task": "Remove the marker from the white cup and place it on the table; Put the pen on the table; Remove the pen from the white coffee cup and place it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_783/frame_0000.jpg", "droid-cotrack/images/episode_783/frame_0092.jpg", "droid-cotrack/images/episode_783/frame_0206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker from the white cup and place it on the table; Put the pen on the table; Remove the pen from the white coffee cup and place it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the marker from the white cup and place it on the table; Put the pen on the table; Remove the pen from the white coffee cup and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.590, 0.782]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.588, 0.781]). The trajectory involves 207 precise waypoints with total movement distance of 0.098." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_783", "trajectory_length": 207, "key_frame_indices": [ 0, 92, 206 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_783.json" } }, { "id": "droid_cotrack_episode_4495", "task": "Put the green square block on the first position from the left on the wooden board; Place the green block next to the abacus onto the first compartment of the tray; Put the green block on the wooden board at the front of the table.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4495/frame_0000.jpg", "droid-cotrack/images/episode_4495/frame_0234.jpg", "droid-cotrack/images/episode_4495/frame_0260.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the green square block on the first position from the left on the wooden board; Place the green block next to the abacus onto the first compartment of the tray; Put the green block on the wooden board at the front of the table.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the green square block on the first position from the left on the wooden board; Place the green block next to the abacus onto the first compartment of the tray; Put the green block on the wooden board at the front of the table., execute the following phases: 1) Initial approach phase (start at [0.539, 0.834]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.609, 0.815]). The trajectory involves 261 precise waypoints with total movement distance of 0.637." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4495", "trajectory_length": 261, "key_frame_indices": [ 0, 234, 260 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4495.json" } }, { "id": "droid_cotrack_episode_32", "task": "Move the can to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_32/frame_0000.jpg", "droid-cotrack/images/episode_32/frame_0094.jpg", "droid-cotrack/images/episode_32/frame_0175.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the can to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the can to the left, execute the following phases: 1) Initial approach phase (start at [0.452, 0.794]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.338, 0.750]). The trajectory involves 176 precise waypoints with total movement distance of 0.279." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_32", "trajectory_length": 176, "key_frame_indices": [ 0, 94, 175 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_32.json" } }, { "id": "droid_cotrack_episode_855", "task": "Pick up the measuring tape from the table and put it on the shelf; Put the black measuring tape on the second shelf from the bottom.; Put the measuring tape on the second shelf", "selected_step": 1, "image": [ "droid-cotrack/images/episode_855/frame_0000.jpg", "droid-cotrack/images/episode_855/frame_0100.jpg", "droid-cotrack/images/episode_855/frame_0172.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the measuring tape from the table and put it on the shelf; Put the black measuring tape on the second shelf from the bottom.; Put the measuring tape on the second shelf?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the measuring tape from the table and put it on the shelf; Put the black measuring tape on the second shelf from the bottom.; Put the measuring tape on the second shelf, execute the following phases: 1) Initial approach phase (start at [0.541, 0.797]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.478, 0.365]). The trajectory involves 173 precise waypoints with total movement distance of 0.696." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_855", "trajectory_length": 173, "key_frame_indices": [ 0, 100, 172 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_855.json" } }, { "id": "droid_cotrack_episode_10186", "task": "Pick the blue bottle and the orange object and put them in the bottom drawer, the close the drawer door; Put the bottle and the sponge in the cabinet and close the cabinet; Put the blue bottle in the cabinet underneath the sink", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10186/frame_0000.jpg", "droid-cotrack/images/episode_10186/frame_0393.jpg", "droid-cotrack/images/episode_10186/frame_0586.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the blue bottle and the orange object and put them in the bottom drawer, the close the drawer door; Put the bottle and the sponge in the cabinet and close the cabinet; Put the blue bottle in the cabinet underneath the sink?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the blue bottle and the orange object and put them in the bottom drawer, the close the drawer door; Put the bottle and the sponge in the cabinet and close the cabinet; Put the blue bottle in the cabinet underneath the sink, execute the following phases: 1) Initial approach phase (start at [0.561, 0.448]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.454, 0.837]). The trajectory involves 587 precise waypoints with total movement distance of 4.374." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10186", "trajectory_length": 587, "key_frame_indices": [ 0, 393, 586 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10186.json" } }, { "id": "droid_cotrack_episode_601", "task": "Put the pencil in the green holder; Put the pencil in the green stationery holder; Put the pencil on the green object", "selected_step": 1, "image": [ "droid-cotrack/images/episode_601/frame_0000.jpg", "droid-cotrack/images/episode_601/frame_0076.jpg", "droid-cotrack/images/episode_601/frame_0135.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pencil in the green holder; Put the pencil in the green stationery holder; Put the pencil on the green object?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the pencil in the green holder; Put the pencil in the green stationery holder; Put the pencil on the green object, execute the following phases: 1) Initial approach phase (start at [0.525, 0.653]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.523, 0.656]). The trajectory involves 136 precise waypoints with total movement distance of 0.041." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_601", "trajectory_length": 136, "key_frame_indices": [ 0, 76, 135 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_601.json" } }, { "id": "droid_cotrack_episode_4239", "task": "Take the pen out of the mug and put it on the table; Put the sharpie on the table; Remove the pen from the white mug and place it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4239/frame_0000.jpg", "droid-cotrack/images/episode_4239/frame_0239.jpg", "droid-cotrack/images/episode_4239/frame_0316.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the pen out of the mug and put it on the table; Put the sharpie on the table; Remove the pen from the white mug and place it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Take the pen out of the mug and put it on the table; Put the sharpie on the table; Remove the pen from the white mug and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.387, 0.311]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.488, 0.421]). The trajectory involves 317 precise waypoints with total movement distance of 1.234." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4239", "trajectory_length": 317, "key_frame_indices": [ 0, 239, 316 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4239.json" } }, { "id": "droid_cotrack_episode_4548", "task": "Remove the toy box out of the sink", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4548/frame_0000.jpg", "droid-cotrack/images/episode_4548/frame_0277.jpg", "droid-cotrack/images/episode_4548/frame_0289.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the toy box out of the sink?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the toy box out of the sink, execute the following phases: 1) Initial approach phase (start at [0.407, 0.875]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.218, 0.681]). The trajectory involves 290 precise waypoints with total movement distance of 1.262." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4548", "trajectory_length": 290, "key_frame_indices": [ 0, 277, 289 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4548.json" } }, { "id": "droid_cotrack_episode_1332", "task": "Move the remote to the surface above the top shelf", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1332/frame_0000.jpg", "droid-cotrack/images/episode_1332/frame_0318.jpg", "droid-cotrack/images/episode_1332/frame_0371.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the remote to the surface above the top shelf?" }, { "from": "gpt", "value": "To complete this repositioning: Move the remote to the surface above the top shelf, execute the following phases: 1) Initial approach phase (start at [0.306, 0.366]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.306, 0.363]). The trajectory involves 372 precise waypoints with total movement distance of 0.453." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1332", "trajectory_length": 372, "key_frame_indices": [ 0, 318, 371 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1332.json" } }, { "id": "droid_cotrack_episode_6339", "task": "Move the measuring tape slightly forward; Move the measuring tape to the left slightly; Move the measuring tape to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6339/frame_0000.jpg", "droid-cotrack/images/episode_6339/frame_0073.jpg", "droid-cotrack/images/episode_6339/frame_0109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the measuring tape slightly forward; Move the measuring tape to the left slightly; Move the measuring tape to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the measuring tape slightly forward; Move the measuring tape to the left slightly; Move the measuring tape to the left, execute the following phases: 1) Initial approach phase (start at [0.559, 0.495]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.498, 0.486]). The trajectory involves 110 precise waypoints with total movement distance of 0.131." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6339", "trajectory_length": 110, "key_frame_indices": [ 0, 73, 109 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6339.json" } }, { "id": "droid_cotrack_episode_890", "task": "Put the spoon on the table; Take the spoon out of the mug; Pick up the spoon from the cup and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_890/frame_0000.jpg", "droid-cotrack/images/episode_890/frame_0132.jpg", "droid-cotrack/images/episode_890/frame_0241.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the spoon on the table; Take the spoon out of the mug; Pick up the spoon from the cup and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the spoon on the table; Take the spoon out of the mug; Pick up the spoon from the cup and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.677, 0.265]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.674, 0.267]). The trajectory involves 242 precise waypoints with total movement distance of 0.088." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_890", "trajectory_length": 242, "key_frame_indices": [ 0, 132, 241 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_890.json" } }, { "id": "droid_cotrack_episode_1085", "task": "Move the fork to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1085/frame_0000.jpg", "droid-cotrack/images/episode_1085/frame_0148.jpg", "droid-cotrack/images/episode_1085/frame_0164.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the fork to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the fork to the left, execute the following phases: 1) Initial approach phase (start at [0.577, 0.753]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.577, 0.752]). The trajectory involves 165 precise waypoints with total movement distance of 0.098." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1085", "trajectory_length": 165, "key_frame_indices": [ 0, 148, 164 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1085.json" } }, { "id": "droid_cotrack_episode_4029", "task": "Put the orange item in the box", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4029/frame_0000.jpg", "droid-cotrack/images/episode_4029/frame_0074.jpg", "droid-cotrack/images/episode_4029/frame_0080.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange item in the box?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the orange item in the box, execute the following phases: 1) Initial approach phase (start at [0.601, 0.604]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.526, 0.591]). The trajectory involves 81 precise waypoints with total movement distance of 0.211." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4029", "trajectory_length": 81, "key_frame_indices": [ 0, 74, 80 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4029.json" } }, { "id": "droid_cotrack_episode_4074", "task": "Close the drawer; Close the red drawer.; Close the drawer", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4074/frame_0000.jpg", "droid-cotrack/images/episode_4074/frame_0086.jpg", "droid-cotrack/images/episode_4074/frame_0092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the drawer; Close the red drawer.; Close the drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the drawer; Close the red drawer.; Close the drawer, execute the following phases: 1) Initial approach phase (start at [0.543, 0.527]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.584, 0.511]). The trajectory involves 93 precise waypoints with total movement distance of 0.063." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4074", "trajectory_length": 93, "key_frame_indices": [ 0, 86, 92 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4074.json" } }, { "id": "droid_cotrack_episode_133", "task": "Push the lever of the bread toaster down; Push the lever of the toaster machine down; Turn on the toaster", "selected_step": 1, "image": [ "droid-cotrack/images/episode_133/frame_0000.jpg", "droid-cotrack/images/episode_133/frame_0146.jpg", "droid-cotrack/images/episode_133/frame_0271.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the lever of the bread toaster down; Push the lever of the toaster machine down; Turn on the toaster?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push the lever of the bread toaster down; Push the lever of the toaster machine down; Turn on the toaster, execute the following phases: 1) Initial approach phase (start at [0.263, 0.651]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.267, 0.649]). The trajectory involves 272 precise waypoints with total movement distance of 0.105." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_133", "trajectory_length": 272, "key_frame_indices": [ 0, 146, 271 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_133.json" } }, { "id": "droid_cotrack_episode_1140", "task": "Put the plush carrot toy inside the silver pan; Pick up the carrot plush toy and put it on the frying pan; Put the carrot toy in the pan", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1140/frame_0000.jpg", "droid-cotrack/images/episode_1140/frame_0105.jpg", "droid-cotrack/images/episode_1140/frame_0116.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the plush carrot toy inside the silver pan; Pick up the carrot plush toy and put it on the frying pan; Put the carrot toy in the pan?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the plush carrot toy inside the silver pan; Pick up the carrot plush toy and put it on the frying pan; Put the carrot toy in the pan, execute the following phases: 1) Initial approach phase (start at [0.598, 0.628]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.488, 0.502]). The trajectory involves 117 precise waypoints with total movement distance of 0.333." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1140", "trajectory_length": 117, "key_frame_indices": [ 0, 105, 116 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1140.json" } }, { "id": "droid_cotrack_episode_2097", "task": "Move the left green object from the gray plate to the green plate; Place one zucchini from the grey tray on the dark blue plate; Move the cut vegetable to the blue plate", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2097/frame_0000.jpg", "droid-cotrack/images/episode_2097/frame_0081.jpg", "droid-cotrack/images/episode_2097/frame_0192.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the left green object from the gray plate to the green plate; Place one zucchini from the grey tray on the dark blue plate; Move the cut vegetable to the blue plate?" }, { "from": "gpt", "value": "To complete this repositioning: Move the left green object from the gray plate to the green plate; Place one zucchini from the grey tray on the dark blue plate; Move the cut vegetable to the blue plate, execute the following phases: 1) Initial approach phase (start at [0.714, 0.612]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.599, 0.385]). The trajectory involves 193 precise waypoints with total movement distance of 0.434." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2097", "trajectory_length": 193, "key_frame_indices": [ 0, 81, 192 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2097.json" } }, { "id": "droid_cotrack_episode_1201", "task": "Pick the pen from the cup and put it on the table, then pick it and put it back in the cup; Take the pen out of the mug, put it on the table then put it back in the mug; Pick up the pen from the mug cup and put it on the table. Return the pen back in the mug cup from the table.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1201/frame_0000.jpg", "droid-cotrack/images/episode_1201/frame_0233.jpg", "droid-cotrack/images/episode_1201/frame_0292.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the pen from the cup and put it on the table, then pick it and put it back in the cup; Take the pen out of the mug, put it on the table then put it back in the mug; Pick up the pen from the mug cup and put it on the table. Return the pen back in the mug cup from the table.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the pen from the cup and put it on the table, then pick it and put it back in the cup; Take the pen out of the mug, put it on the table then put it back in the mug; Pick up the pen from the mug cup and put it on the table. Return the pen back in the mug cup from the table., execute the following phases: 1) Initial approach phase (start at [0.493, 0.609]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.508, 0.581]). The trajectory involves 293 precise waypoints with total movement distance of 0.855." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1201", "trajectory_length": 293, "key_frame_indices": [ 0, 233, 292 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1201.json" } }, { "id": "droid_cotrack_episode_1028", "task": "Turn off the heater", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1028/frame_0000.jpg", "droid-cotrack/images/episode_1028/frame_0179.jpg", "droid-cotrack/images/episode_1028/frame_0216.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn off the heater?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Turn off the heater, execute the following phases: 1) Initial approach phase (start at [0.448, 0.676]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.448, 0.677]). The trajectory involves 217 precise waypoints with total movement distance of 0.075." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1028", "trajectory_length": 217, "key_frame_indices": [ 0, 179, 216 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1028.json" } }, { "id": "droid_cotrack_episode_545", "task": "Pick up the pen from the bowl and put it on the chair.; Pick up the marker from the bowl and put it on the chair seat; Remove the marker from the bowl and place it on the chair", "selected_step": 1, "image": [ "droid-cotrack/images/episode_545/frame_0000.jpg", "droid-cotrack/images/episode_545/frame_0091.jpg", "droid-cotrack/images/episode_545/frame_0137.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the pen from the bowl and put it on the chair.; Pick up the marker from the bowl and put it on the chair seat; Remove the marker from the bowl and place it on the chair?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the pen from the bowl and put it on the chair.; Pick up the marker from the bowl and put it on the chair seat; Remove the marker from the bowl and place it on the chair, execute the following phases: 1) Initial approach phase (start at [0.527, 0.695]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.527, 0.694]). The trajectory involves 138 precise waypoints with total movement distance of 0.067." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_545", "trajectory_length": 138, "key_frame_indices": [ 0, 91, 137 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_545.json" } }, { "id": "droid_cotrack_episode_809", "task": "Place the block inside the bowl; Place the green block in the bowl; Put the green block in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_809/frame_0000.jpg", "droid-cotrack/images/episode_809/frame_0050.jpg", "droid-cotrack/images/episode_809/frame_0065.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the block inside the bowl; Place the green block in the bowl; Put the green block in the bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Place the block inside the bowl; Place the green block in the bowl; Put the green block in the bowl, execute the following phases: 1) Initial approach phase (start at [0.571, 0.728]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.651, 0.611]). The trajectory involves 66 precise waypoints with total movement distance of 0.302." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_809", "trajectory_length": 66, "key_frame_indices": [ 0, 50, 65 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_809.json" } }, { "id": "droid_cotrack_episode_211", "task": "Put the purple plushie in the white bowl; Put the purple plush in the plate; Put the purple plushie on the plate", "selected_step": 1, "image": [ "droid-cotrack/images/episode_211/frame_0000.jpg", "droid-cotrack/images/episode_211/frame_0119.jpg", "droid-cotrack/images/episode_211/frame_0212.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the purple plushie in the white bowl; Put the purple plush in the plate; Put the purple plushie on the plate?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the purple plushie in the white bowl; Put the purple plush in the plate; Put the purple plushie on the plate, execute the following phases: 1) Initial approach phase (start at [0.493, 0.573]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.545, 0.476]). The trajectory involves 213 precise waypoints with total movement distance of 0.451." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_211", "trajectory_length": 213, "key_frame_indices": [ 0, 119, 212 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_211.json" } }, { "id": "droid_cotrack_episode_2024", "task": "Pick up the block, and then put it in the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2024/frame_0000.jpg", "droid-cotrack/images/episode_2024/frame_0098.jpg", "droid-cotrack/images/episode_2024/frame_0152.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the block, and then put it in the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the block, and then put it in the cup, execute the following phases: 1) Initial approach phase (start at [0.606, 0.407]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.063, -0.506]). The trajectory involves 153 precise waypoints with total movement distance of 1.526." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2024", "trajectory_length": 153, "key_frame_indices": [ 0, 98, 152 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2024.json" } }, { "id": "droid_cotrack_episode_4509", "task": "Put the white towel inside the black holder on the table; Put the white towel in the black basket; Put the towel inside the black basket.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4509/frame_0000.jpg", "droid-cotrack/images/episode_4509/frame_0096.jpg", "droid-cotrack/images/episode_4509/frame_0433.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the white towel inside the black holder on the table; Put the white towel in the black basket; Put the towel inside the black basket.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the white towel inside the black holder on the table; Put the white towel in the black basket; Put the towel inside the black basket., execute the following phases: 1) Initial approach phase (start at [0.190, 0.824]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.418, 0.456]). The trajectory involves 434 precise waypoints with total movement distance of 1.746." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4509", "trajectory_length": 434, "key_frame_indices": [ 0, 96, 433 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4509.json" } }, { "id": "droid_cotrack_episode_1767", "task": "Slide the cup to the left; Move the white mug to the left; Put the highlighter inside the mug cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1767/frame_0000.jpg", "droid-cotrack/images/episode_1767/frame_0143.jpg", "droid-cotrack/images/episode_1767/frame_0208.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the cup to the left; Move the white mug to the left; Put the highlighter inside the mug cup?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the cup to the left; Move the white mug to the left; Put the highlighter inside the mug cup, execute the following phases: 1) Initial approach phase (start at [0.627, 0.344]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.592, 0.282]). The trajectory involves 209 precise waypoints with total movement distance of 0.146." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1767", "trajectory_length": 209, "key_frame_indices": [ 0, 143, 208 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1767.json" } }, { "id": "droid_cotrack_episode_6512", "task": "Put the marker in the bowl; Place the marker in the bowl; Put the marker in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6512/frame_0000.jpg", "droid-cotrack/images/episode_6512/frame_0093.jpg", "droid-cotrack/images/episode_6512/frame_0106.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the bowl; Place the marker in the bowl; Put the marker in the bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the marker in the bowl; Place the marker in the bowl; Put the marker in the bowl, execute the following phases: 1) Initial approach phase (start at [0.403, 0.501]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.526, 0.699]). The trajectory involves 107 precise waypoints with total movement distance of 0.496." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6512", "trajectory_length": 107, "key_frame_indices": [ 0, 93, 106 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6512.json" } }, { "id": "droid_cotrack_episode_10158", "task": "Open the coffee maker machine; Open the lid on the coffeemaker; Open the coffee marker", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10158/frame_0000.jpg", "droid-cotrack/images/episode_10158/frame_0121.jpg", "droid-cotrack/images/episode_10158/frame_0163.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the coffee maker machine; Open the lid on the coffeemaker; Open the coffee marker?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the coffee maker machine; Open the lid on the coffeemaker; Open the coffee marker, execute the following phases: 1) Initial approach phase (start at [0.466, 0.320]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.461, 0.318]). The trajectory involves 164 precise waypoints with total movement distance of 0.125." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10158", "trajectory_length": 164, "key_frame_indices": [ 0, 121, 163 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10158.json" } }, { "id": "droid_cotrack_episode_1872", "task": "Pick the tube on the table and put it in the purse; Put the white object in the bag; Put the small tube in the purse", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1872/frame_0000.jpg", "droid-cotrack/images/episode_1872/frame_0144.jpg", "droid-cotrack/images/episode_1872/frame_0209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the tube on the table and put it in the purse; Put the white object in the bag; Put the small tube in the purse?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the tube on the table and put it in the purse; Put the white object in the bag; Put the small tube in the purse, execute the following phases: 1) Initial approach phase (start at [0.584, 0.764]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.598, 0.751]). The trajectory involves 210 precise waypoints with total movement distance of 0.181." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1872", "trajectory_length": 210, "key_frame_indices": [ 0, 144, 209 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1872.json" } }, { "id": "droid_cotrack_episode_6099", "task": "Move the white cup to the left; Move the mug to the left; Move the cup to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6099/frame_0000.jpg", "droid-cotrack/images/episode_6099/frame_0063.jpg", "droid-cotrack/images/episode_6099/frame_0096.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the white cup to the left; Move the mug to the left; Move the cup to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the white cup to the left; Move the mug to the left; Move the cup to the left, execute the following phases: 1) Initial approach phase (start at [0.563, 0.665]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.527, 0.578]). The trajectory involves 97 precise waypoints with total movement distance of 0.196." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6099", "trajectory_length": 97, "key_frame_indices": [ 0, 63, 96 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6099.json" } }, { "id": "droid_cotrack_episode_637", "task": "Close the open top drawer; Close the drawer; Close the drawer", "selected_step": 1, "image": [ "droid-cotrack/images/episode_637/frame_0000.jpg", "droid-cotrack/images/episode_637/frame_0084.jpg", "droid-cotrack/images/episode_637/frame_0100.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the open top drawer; Close the drawer; Close the drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the open top drawer; Close the drawer; Close the drawer, execute the following phases: 1) Initial approach phase (start at [0.680, 0.243]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.606, 0.196]). The trajectory involves 101 precise waypoints with total movement distance of 0.138." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_637", "trajectory_length": 101, "key_frame_indices": [ 0, 84, 100 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_637.json" } }, { "id": "droid_cotrack_episode_4305", "task": "Open the drawer on the table; Open the red drawer.; Open the red drawer", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4305/frame_0000.jpg", "droid-cotrack/images/episode_4305/frame_0128.jpg", "droid-cotrack/images/episode_4305/frame_0155.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the drawer on the table; Open the red drawer.; Open the red drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the drawer on the table; Open the red drawer.; Open the red drawer, execute the following phases: 1) Initial approach phase (start at [0.391, 0.489]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.384, 0.518]). The trajectory involves 156 precise waypoints with total movement distance of 0.117." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4305", "trajectory_length": 156, "key_frame_indices": [ 0, 128, 155 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4305.json" } }, { "id": "droid_cotrack_episode_1683", "task": "Remove the black marker from the black cup; Remove the marker from the black cup; Remove the marker from the cup and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1683/frame_0000.jpg", "droid-cotrack/images/episode_1683/frame_0258.jpg", "droid-cotrack/images/episode_1683/frame_0287.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the black marker from the black cup; Remove the marker from the black cup; Remove the marker from the cup and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the black marker from the black cup; Remove the marker from the black cup; Remove the marker from the cup and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.681, 0.594]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.754, 1.142]). The trajectory involves 288 precise waypoints with total movement distance of 0.999." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1683", "trajectory_length": 288, "key_frame_indices": [ 0, 258, 287 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1683.json" } }, { "id": "droid_cotrack_episode_6164", "task": "Put the pink bowl on top of the black bowl; Put the pink bowl in the black bowl; Put the peach bowl inside the black bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6164/frame_0000.jpg", "droid-cotrack/images/episode_6164/frame_0107.jpg", "droid-cotrack/images/episode_6164/frame_0169.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pink bowl on top of the black bowl; Put the pink bowl in the black bowl; Put the peach bowl inside the black bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the pink bowl on top of the black bowl; Put the pink bowl in the black bowl; Put the peach bowl inside the black bowl, execute the following phases: 1) Initial approach phase (start at [0.649, 0.517]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.591, 0.578]). The trajectory involves 170 precise waypoints with total movement distance of 0.416." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6164", "trajectory_length": 170, "key_frame_indices": [ 0, 107, 169 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6164.json" } }, { "id": "droid_cotrack_episode_4428", "task": "Twist the second last knob to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4428/frame_0000.jpg", "droid-cotrack/images/episode_4428/frame_0079.jpg", "droid-cotrack/images/episode_4428/frame_0136.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Twist the second last knob to the right?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Twist the second last knob to the right, execute the following phases: 1) Initial approach phase (start at [0.588, 0.838]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.588, 0.838]). The trajectory involves 137 precise waypoints with total movement distance of 0.055." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4428", "trajectory_length": 137, "key_frame_indices": [ 0, 79, 136 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4428.json" } }, { "id": "droid_cotrack_episode_1329", "task": "Move the green towel to the bottom left corner of the table; Push the rag to the front of the table; Move the green cloth forward", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1329/frame_0000.jpg", "droid-cotrack/images/episode_1329/frame_0145.jpg", "droid-cotrack/images/episode_1329/frame_0173.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the green towel to the bottom left corner of the table; Push the rag to the front of the table; Move the green cloth forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the green towel to the bottom left corner of the table; Push the rag to the front of the table; Move the green cloth forward, execute the following phases: 1) Initial approach phase (start at [0.383, 0.517]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.275, 0.547]). The trajectory involves 174 precise waypoints with total movement distance of 0.197." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1329", "trajectory_length": 174, "key_frame_indices": [ 0, 145, 173 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1329.json" } }, { "id": "droid_cotrack_episode_10314", "task": "Pick up the black shirt on the table and put it on the chair; Put the black shirt on the chair; Hang the black t-shirt on the backrest of the grey chair.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10314/frame_0000.jpg", "droid-cotrack/images/episode_10314/frame_0152.jpg", "droid-cotrack/images/episode_10314/frame_0165.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the black shirt on the table and put it on the chair; Put the black shirt on the chair; Hang the black t-shirt on the backrest of the grey chair.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the black shirt on the table and put it on the chair; Put the black shirt on the chair; Hang the black t-shirt on the backrest of the grey chair., execute the following phases: 1) Initial approach phase (start at [0.494, 0.330]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.645, 0.186]). The trajectory involves 166 precise waypoints with total movement distance of 0.494." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10314", "trajectory_length": 166, "key_frame_indices": [ 0, 152, 165 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10314.json" } }, { "id": "droid_cotrack_episode_1751", "task": "Move the towel to the backrest of the right chair; Hang the red cloth on one of the chairs; Put the towel on the backrest of the chair on the front right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1751/frame_0000.jpg", "droid-cotrack/images/episode_1751/frame_0294.jpg", "droid-cotrack/images/episode_1751/frame_0320.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the towel to the backrest of the right chair; Hang the red cloth on one of the chairs; Put the towel on the backrest of the chair on the front right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the towel to the backrest of the right chair; Hang the red cloth on one of the chairs; Put the towel on the backrest of the chair on the front right, execute the following phases: 1) Initial approach phase (start at [0.510, 0.601]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.512, 0.586]). The trajectory involves 321 precise waypoints with total movement distance of 1.034." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1751", "trajectory_length": 321, "key_frame_indices": [ 0, 294, 320 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1751.json" } }, { "id": "droid_cotrack_episode_1342", "task": "Put the shirts on the back of the chair onto the box; Remove the t-shirts and towel from the backrest of the chair and put them on top of the brown box.; Place all the clothes on the chair onto the box", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1342/frame_0000.jpg", "droid-cotrack/images/episode_1342/frame_0150.jpg", "droid-cotrack/images/episode_1342/frame_0300.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the shirts on the back of the chair onto the box; Remove the t-shirts and towel from the backrest of the chair and put them on top of the brown box.; Place all the clothes on the chair onto the box?" }, { "from": "gpt", "value": "To complete this repositioning: Put the shirts on the back of the chair onto the box; Remove the t-shirts and towel from the backrest of the chair and put them on top of the brown box.; Place all the clothes on the chair onto the box, execute the following phases: 1) Initial approach phase (start at [0.537, 0.522]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.588, 0.397]). The trajectory involves 301 precise waypoints with total movement distance of 1.029." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1342", "trajectory_length": 301, "key_frame_indices": [ 0, 150, 300 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1342.json" } }, { "id": "droid_cotrack_episode_6283", "task": "Pick up the rope on the chair and put it in the box.; Remove the white rope from the chair and place it into the box; Take the shoelace on the back of the chair and put it in the box", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6283/frame_0000.jpg", "droid-cotrack/images/episode_6283/frame_0077.jpg", "droid-cotrack/images/episode_6283/frame_0130.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the rope on the chair and put it in the box.; Remove the white rope from the chair and place it into the box; Take the shoelace on the back of the chair and put it in the box?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the rope on the chair and put it in the box.; Remove the white rope from the chair and place it into the box; Take the shoelace on the back of the chair and put it in the box, execute the following phases: 1) Initial approach phase (start at [0.601, 0.545]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.595, 0.540]). The trajectory involves 131 precise waypoints with total movement distance of 0.298." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6283", "trajectory_length": 131, "key_frame_indices": [ 0, 77, 130 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6283.json" } }, { "id": "droid_cotrack_episode_1869", "task": "Wipe the table with the yellow towel", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1869/frame_0000.jpg", "droid-cotrack/images/episode_1869/frame_0363.jpg", "droid-cotrack/images/episode_1869/frame_0921.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Wipe the table with the yellow towel?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Wipe the table with the yellow towel, execute the following phases: 1) Initial approach phase (start at [0.380, 0.439]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.306, 0.503]). The trajectory involves 922 precise waypoints with total movement distance of 4.340." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1869", "trajectory_length": 922, "key_frame_indices": [ 0, 363, 921 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1869.json" } }, { "id": "droid_cotrack_episode_2174", "task": "Take the orange marker out of the white and brown mug; Pick up the highlighter and place it on the table; Pick up the marker from the cup and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2174/frame_0000.jpg", "droid-cotrack/images/episode_2174/frame_0099.jpg", "droid-cotrack/images/episode_2174/frame_0135.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the orange marker out of the white and brown mug; Pick up the highlighter and place it on the table; Pick up the marker from the cup and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Take the orange marker out of the white and brown mug; Pick up the highlighter and place it on the table; Pick up the marker from the cup and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.499, 0.536]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.581, 0.584]). The trajectory involves 136 precise waypoints with total movement distance of 0.528." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2174", "trajectory_length": 136, "key_frame_indices": [ 0, 99, 135 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2174.json" } }, { "id": "droid_cotrack_episode_4337", "task": "Pour the things in the jug into the red bowl; Pour the contents in the jug into the red bowl; Pour the contents from the jar into the red bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4337/frame_0000.jpg", "droid-cotrack/images/episode_4337/frame_0232.jpg", "droid-cotrack/images/episode_4337/frame_0287.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour the things in the jug into the red bowl; Pour the contents in the jug into the red bowl; Pour the contents from the jar into the red bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Pour the things in the jug into the red bowl; Pour the contents in the jug into the red bowl; Pour the contents from the jar into the red bowl, execute the following phases: 1) Initial approach phase (start at [0.441, 0.691]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.441, 0.691]). The trajectory involves 288 precise waypoints with total movement distance of 0.262." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4337", "trajectory_length": 288, "key_frame_indices": [ 0, 232, 287 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4337.json" } }, { "id": "droid_cotrack_episode_734", "task": "Put the marker in the cup; Put the marker inside the cup; Pick up the pen from the book and put it in the yellow cup.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_734/frame_0000.jpg", "droid-cotrack/images/episode_734/frame_0113.jpg", "droid-cotrack/images/episode_734/frame_0200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the cup; Put the marker inside the cup; Pick up the pen from the book and put it in the yellow cup.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the marker in the cup; Put the marker inside the cup; Pick up the pen from the book and put it in the yellow cup., execute the following phases: 1) Initial approach phase (start at [0.774, 0.481]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.775, 0.479]). The trajectory involves 201 precise waypoints with total movement distance of 0.063." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_734", "trajectory_length": 201, "key_frame_indices": [ 0, 113, 200 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_734.json" } }, { "id": "droid_cotrack_episode_1585", "task": "Move the cup forward; Move the mug to the right; Move the mug cup to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1585/frame_0000.jpg", "droid-cotrack/images/episode_1585/frame_0057.jpg", "droid-cotrack/images/episode_1585/frame_0087.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup forward; Move the mug to the right; Move the mug cup to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup forward; Move the mug to the right; Move the mug cup to the right, execute the following phases: 1) Initial approach phase (start at [0.458, 0.691]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.531, 0.713]). The trajectory involves 88 precise waypoints with total movement distance of 0.127." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1585", "trajectory_length": 88, "key_frame_indices": [ 0, 57, 87 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1585.json" } }, { "id": "droid_cotrack_episode_179", "task": "Remove the lid from the pot and place it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_179/frame_0000.jpg", "droid-cotrack/images/episode_179/frame_0082.jpg", "droid-cotrack/images/episode_179/frame_0136.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the lid from the pot and place it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the lid from the pot and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.549, 0.413]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.548, 0.421]). The trajectory involves 137 precise waypoints with total movement distance of 0.063." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_179", "trajectory_length": 137, "key_frame_indices": [ 0, 82, 136 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_179.json" } }, { "id": "droid_cotrack_episode_1636", "task": "Take the lid off the pot on the right and put it on the stove; Remove the lid from the pot; Remove the lid from the pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1636/frame_0000.jpg", "droid-cotrack/images/episode_1636/frame_0106.jpg", "droid-cotrack/images/episode_1636/frame_0227.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the lid off the pot on the right and put it on the stove; Remove the lid from the pot; Remove the lid from the pot?" }, { "from": "gpt", "value": "To complete this repositioning: Take the lid off the pot on the right and put it on the stove; Remove the lid from the pot; Remove the lid from the pot, execute the following phases: 1) Initial approach phase (start at [0.391, 0.569]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.368, 0.928]). The trajectory involves 228 precise waypoints with total movement distance of 0.605." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1636", "trajectory_length": 228, "key_frame_indices": [ 0, 106, 227 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1636.json" } }, { "id": "droid_cotrack_episode_4242", "task": "Put the green can inside the cabinet", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4242/frame_0000.jpg", "droid-cotrack/images/episode_4242/frame_0131.jpg", "droid-cotrack/images/episode_4242/frame_0285.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the green can inside the cabinet?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the green can inside the cabinet, execute the following phases: 1) Initial approach phase (start at [0.320, 0.779]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.346, 0.172]). The trajectory involves 286 precise waypoints with total movement distance of 0.858." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4242", "trajectory_length": 286, "key_frame_indices": [ 0, 131, 285 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4242.json" } }, { "id": "droid_cotrack_episode_6148", "task": "Pick up the cup from the pot and put it on the table; Take the cup out of the pot; Move the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6148/frame_0000.jpg", "droid-cotrack/images/episode_6148/frame_0070.jpg", "droid-cotrack/images/episode_6148/frame_0116.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the cup from the pot and put it on the table; Take the cup out of the pot; Move the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the cup from the pot and put it on the table; Take the cup out of the pot; Move the cup, execute the following phases: 1) Initial approach phase (start at [0.749, 0.454]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.699, 0.360]). The trajectory involves 117 precise waypoints with total movement distance of 0.826." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6148", "trajectory_length": 117, "key_frame_indices": [ 0, 70, 116 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6148.json" } }, { "id": "droid_cotrack_episode_10167", "task": "Pick up the cable and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10167/frame_0000.jpg", "droid-cotrack/images/episode_10167/frame_0338.jpg", "droid-cotrack/images/episode_10167/frame_0358.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the cable and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the cable and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.361, 0.427]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.370, 0.413]). The trajectory involves 359 precise waypoints with total movement distance of 0.335." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10167", "trajectory_length": 359, "key_frame_indices": [ 0, 338, 358 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10167.json" } }, { "id": "droid_cotrack_episode_10179", "task": "Remove the marker from the cup and put it on the table; Remove the marker from the mug; Pick up the marker from the cup and place it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10179/frame_0000.jpg", "droid-cotrack/images/episode_10179/frame_0066.jpg", "droid-cotrack/images/episode_10179/frame_0112.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker from the cup and put it on the table; Remove the marker from the mug; Pick up the marker from the cup and place it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Remove the marker from the cup and put it on the table; Remove the marker from the mug; Pick up the marker from the cup and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.507, 0.708]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.537, 0.657]). The trajectory involves 113 precise waypoints with total movement distance of 0.336." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10179", "trajectory_length": 113, "key_frame_indices": [ 0, 66, 112 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10179.json" } }, { "id": "droid_cotrack_episode_407", "task": "Remove the green block from the top of the stack; Put the green cuboid on the table; Remove the green block from the top of the stack on the left.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_407/frame_0000.jpg", "droid-cotrack/images/episode_407/frame_0082.jpg", "droid-cotrack/images/episode_407/frame_0111.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the green block from the top of the stack; Put the green cuboid on the table; Remove the green block from the top of the stack on the left.?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the green block from the top of the stack; Put the green cuboid on the table; Remove the green block from the top of the stack on the left., execute the following phases: 1) Initial approach phase (start at [0.426, 0.224]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.626, 0.356]). The trajectory involves 112 precise waypoints with total movement distance of 0.366." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_407", "trajectory_length": 112, "key_frame_indices": [ 0, 82, 111 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_407.json" } }, { "id": "droid_cotrack_episode_2134", "task": "Turn the faucet to the right; Move the faucet to the right slightly; Move the sink tap to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2134/frame_0000.jpg", "droid-cotrack/images/episode_2134/frame_0162.jpg", "droid-cotrack/images/episode_2134/frame_0193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn the faucet to the right; Move the faucet to the right slightly; Move the sink tap to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Turn the faucet to the right; Move the faucet to the right slightly; Move the sink tap to the right, execute the following phases: 1) Initial approach phase (start at [0.771, 0.516]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.770, 0.513]). The trajectory involves 194 precise waypoints with total movement distance of 0.065." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2134", "trajectory_length": 194, "key_frame_indices": [ 0, 162, 193 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2134.json" } }, { "id": "droid_cotrack_episode_1191", "task": "Press a button on the remote", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1191/frame_0000.jpg", "droid-cotrack/images/episode_1191/frame_0044.jpg", "droid-cotrack/images/episode_1191/frame_0140.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Press a button on the remote?" }, { "from": "gpt", "value": "To complete this button/switch activation: Press a button on the remote, execute the following phases: 1) Initial approach phase (start at [0.474, 0.596]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.475, 0.592]). The trajectory involves 141 precise waypoints with total movement distance of 0.100." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1191", "trajectory_length": 141, "key_frame_indices": [ 0, 44, 140 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1191.json" } }, { "id": "droid_cotrack_episode_2014", "task": "Put the tomato on the table; Move the tomato from the red bowl to the table; Put the red object in the red box on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2014/frame_0000.jpg", "droid-cotrack/images/episode_2014/frame_0100.jpg", "droid-cotrack/images/episode_2014/frame_0144.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the tomato on the table; Move the tomato from the red bowl to the table; Put the red object in the red box on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Put the tomato on the table; Move the tomato from the red bowl to the table; Put the red object in the red box on the table, execute the following phases: 1) Initial approach phase (start at [0.604, 0.683]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.605, 0.681]). The trajectory involves 145 precise waypoints with total movement distance of 0.037." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2014", "trajectory_length": 145, "key_frame_indices": [ 0, 100, 144 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2014.json" } }, { "id": "droid_cotrack_episode_4097", "task": "Close the lid of the flask; Close the flask; Close the cap on the top of the bottle", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4097/frame_0000.jpg", "droid-cotrack/images/episode_4097/frame_0069.jpg", "droid-cotrack/images/episode_4097/frame_0092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the lid of the flask; Close the flask; Close the cap on the top of the bottle?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the lid of the flask; Close the flask; Close the cap on the top of the bottle, execute the following phases: 1) Initial approach phase (start at [0.735, 0.054]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.736, 0.054]). The trajectory involves 93 precise waypoints with total movement distance of 0.024." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4097", "trajectory_length": 93, "key_frame_indices": [ 0, 69, 92 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4097.json" } }, { "id": "droid_cotrack_episode_1582", "task": "Remove the cable from the plastic and put it on the table; Remove the cable from the plastic bag; Remove the object from the colourless plastic.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1582/frame_0000.jpg", "droid-cotrack/images/episode_1582/frame_0125.jpg", "droid-cotrack/images/episode_1582/frame_0206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the cable from the plastic and put it on the table; Remove the cable from the plastic bag; Remove the object from the colourless plastic.?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the cable from the plastic and put it on the table; Remove the cable from the plastic bag; Remove the object from the colourless plastic., execute the following phases: 1) Initial approach phase (start at [0.627, 0.485]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.617, 0.548]). The trajectory involves 207 precise waypoints with total movement distance of 0.948." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1582", "trajectory_length": 207, "key_frame_indices": [ 0, 125, 206 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1582.json" } }, { "id": "droid_cotrack_episode_1870", "task": "Close the coffeemaker; Close the lid of the coffee machine chamber; Close the coffee maker", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1870/frame_0000.jpg", "droid-cotrack/images/episode_1870/frame_0173.jpg", "droid-cotrack/images/episode_1870/frame_0350.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the coffeemaker; Close the lid of the coffee machine chamber; Close the coffee maker?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the coffeemaker; Close the lid of the coffee machine chamber; Close the coffee maker, execute the following phases: 1) Initial approach phase (start at [0.392, 0.124]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.524, 0.349]). The trajectory involves 351 precise waypoints with total movement distance of 0.769." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1870", "trajectory_length": 351, "key_frame_indices": [ 0, 173, 350 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1870.json" } }, { "id": "droid_cotrack_episode_10147", "task": "Move the curtain to the right; Open the curtain; Move the curtain to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10147/frame_0000.jpg", "droid-cotrack/images/episode_10147/frame_0109.jpg", "droid-cotrack/images/episode_10147/frame_0243.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the curtain to the right; Open the curtain; Move the curtain to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the curtain to the right; Open the curtain; Move the curtain to the right, execute the following phases: 1) Initial approach phase (start at [0.375, 0.288]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.337, 0.215]). The trajectory involves 244 precise waypoints with total movement distance of 1.663." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10147", "trajectory_length": 244, "key_frame_indices": [ 0, 109, 243 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10147.json" } }, { "id": "droid_cotrack_episode_1703", "task": "Place the glue stick inside the maroon mug; Put the glue stick inside the mug cup; Put the glue inside the mug", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1703/frame_0000.jpg", "droid-cotrack/images/episode_1703/frame_0132.jpg", "droid-cotrack/images/episode_1703/frame_0151.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the glue stick inside the maroon mug; Put the glue stick inside the mug cup; Put the glue inside the mug?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Place the glue stick inside the maroon mug; Put the glue stick inside the mug cup; Put the glue inside the mug, execute the following phases: 1) Initial approach phase (start at [0.542, 0.463]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.539, 0.532]). The trajectory involves 152 precise waypoints with total movement distance of 0.590." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1703", "trajectory_length": 152, "key_frame_indices": [ 0, 132, 151 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1703.json" } }, { "id": "droid_cotrack_episode_6795", "task": "Pick up the yellow block from the front of the counter and place it on top of the square blue block; Put the yellow three piece lego on the blue four piece lego; Put the yellow building block on top of the small blue 2 by 2 building block", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6795/frame_0000.jpg", "droid-cotrack/images/episode_6795/frame_0125.jpg", "droid-cotrack/images/episode_6795/frame_0300.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the yellow block from the front of the counter and place it on top of the square blue block; Put the yellow three piece lego on the blue four piece lego; Put the yellow building block on top of the small blue 2 by 2 building block?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the yellow block from the front of the counter and place it on top of the square blue block; Put the yellow three piece lego on the blue four piece lego; Put the yellow building block on top of the small blue 2 by 2 building block, execute the following phases: 1) Initial approach phase (start at [0.698, 0.791]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.640, 0.485]). The trajectory involves 301 precise waypoints with total movement distance of 0.716." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6795", "trajectory_length": 301, "key_frame_indices": [ 0, 125, 300 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6795.json" } }, { "id": "droid_cotrack_episode_1296", "task": "Put the bread inside the toaster; Put a slice of bread in the toaster; Put a slice of bread in the toaster", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1296/frame_0000.jpg", "droid-cotrack/images/episode_1296/frame_0053.jpg", "droid-cotrack/images/episode_1296/frame_0357.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the bread inside the toaster; Put a slice of bread in the toaster; Put a slice of bread in the toaster?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the bread inside the toaster; Put a slice of bread in the toaster; Put a slice of bread in the toaster, execute the following phases: 1) Initial approach phase (start at [0.533, 0.509]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.534, 0.510]). The trajectory involves 358 precise waypoints with total movement distance of 1.960." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1296", "trajectory_length": 358, "key_frame_indices": [ 0, 53, 357 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1296.json" } }, { "id": "droid_cotrack_episode_1530", "task": "Close the tap; Close the tap; Close the tap", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1530/frame_0000.jpg", "droid-cotrack/images/episode_1530/frame_0017.jpg", "droid-cotrack/images/episode_1530/frame_0148.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the tap; Close the tap; Close the tap?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the tap; Close the tap; Close the tap, execute the following phases: 1) Initial approach phase (start at [0.336, 0.502]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.333, 0.509]). The trajectory involves 149 precise waypoints with total movement distance of 0.100." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1530", "trajectory_length": 149, "key_frame_indices": [ 0, 17, 148 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1530.json" } }, { "id": "droid_cotrack_episode_335", "task": "Pour the contents of the can into the glass; Pour the contents of the can into the glass; Pour the contents of the can into the glass", "selected_step": 1, "image": [ "droid-cotrack/images/episode_335/frame_0000.jpg", "droid-cotrack/images/episode_335/frame_0175.jpg", "droid-cotrack/images/episode_335/frame_0603.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour the contents of the can into the glass; Pour the contents of the can into the glass; Pour the contents of the can into the glass?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Pour the contents of the can into the glass; Pour the contents of the can into the glass; Pour the contents of the can into the glass, execute the following phases: 1) Initial approach phase (start at [0.460, 0.527]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.453, 0.510]). The trajectory involves 604 precise waypoints with total movement distance of 1.194." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_335", "trajectory_length": 604, "key_frame_indices": [ 0, 175, 603 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_335.json" } }, { "id": "droid_cotrack_episode_1525", "task": "Remove the blue object hanging on the machine and put it on the table; Remove the blue item that's hung on the blue machine and put it on the table; Place the soldering iron on the workbench", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1525/frame_0000.jpg", "droid-cotrack/images/episode_1525/frame_0194.jpg", "droid-cotrack/images/episode_1525/frame_0205.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the blue object hanging on the machine and put it on the table; Remove the blue item that's hung on the blue machine and put it on the table; Place the soldering iron on the workbench?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the blue object hanging on the machine and put it on the table; Remove the blue item that's hung on the blue machine and put it on the table; Place the soldering iron on the workbench, execute the following phases: 1) Initial approach phase (start at [0.288, 0.719]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.281, 0.952]). The trajectory involves 206 precise waypoints with total movement distance of 0.608." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1525", "trajectory_length": 206, "key_frame_indices": [ 0, 194, 205 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1525.json" } }, { "id": "droid_cotrack_episode_1155", "task": "Pick the bottle in the box and put it on the table, then put it back in the box; Take one water bottle out of the box and place it on the counter then put it back in the box.; Remove the bottle from the box and put it back in", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1155/frame_0000.jpg", "droid-cotrack/images/episode_1155/frame_0421.jpg", "droid-cotrack/images/episode_1155/frame_0781.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the bottle in the box and put it on the table, then put it back in the box; Take one water bottle out of the box and place it on the counter then put it back in the box.; Remove the bottle from the box and put it back in?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the bottle in the box and put it on the table, then put it back in the box; Take one water bottle out of the box and place it on the counter then put it back in the box.; Remove the bottle from the box and put it back in, execute the following phases: 1) Initial approach phase (start at [0.481, 0.534]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.568, 0.519]). The trajectory involves 782 precise waypoints with total movement distance of 5.314." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1155", "trajectory_length": 782, "key_frame_indices": [ 0, 421, 781 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1155.json" } }, { "id": "droid_cotrack_episode_1402", "task": "Put the glass marbles in the black mug cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1402/frame_0000.jpg", "droid-cotrack/images/episode_1402/frame_0557.jpg", "droid-cotrack/images/episode_1402/frame_0608.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the glass marbles in the black mug cup?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the glass marbles in the black mug cup, execute the following phases: 1) Initial approach phase (start at [0.525, 0.828]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.537, 0.823]). The trajectory involves 609 precise waypoints with total movement distance of 1.033." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1402", "trajectory_length": 609, "key_frame_indices": [ 0, 557, 608 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1402.json" } }, { "id": "droid_cotrack_episode_4087", "task": "Pick up the pen from the table and place it in the mug; Put the pen inside the mug cup; Place the green pen in the white cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4087/frame_0000.jpg", "droid-cotrack/images/episode_4087/frame_0098.jpg", "droid-cotrack/images/episode_4087/frame_0175.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the pen from the table and place it in the mug; Put the pen inside the mug cup; Place the green pen in the white cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the pen from the table and place it in the mug; Put the pen inside the mug cup; Place the green pen in the white cup, execute the following phases: 1) Initial approach phase (start at [0.737, 0.677]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.602, 0.407]). The trajectory involves 176 precise waypoints with total movement distance of 0.428." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4087", "trajectory_length": 176, "key_frame_indices": [ 0, 98, 175 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4087.json" } }, { "id": "droid_cotrack_episode_10143", "task": "Put the marker in the bowl; Put the marker in the bowl; Put the marker inside the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10143/frame_0000.jpg", "droid-cotrack/images/episode_10143/frame_0171.jpg", "droid-cotrack/images/episode_10143/frame_0180.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the bowl; Put the marker in the bowl; Put the marker inside the bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the marker in the bowl; Put the marker in the bowl; Put the marker inside the bowl, execute the following phases: 1) Initial approach phase (start at [0.634, 0.679]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.569, 0.619]). The trajectory involves 181 precise waypoints with total movement distance of 0.368." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10143", "trajectory_length": 181, "key_frame_indices": [ 0, 171, 180 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10143.json" } }, { "id": "droid_cotrack_episode_4413", "task": "Slide the towel backward", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4413/frame_0000.jpg", "droid-cotrack/images/episode_4413/frame_0075.jpg", "droid-cotrack/images/episode_4413/frame_0096.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the towel backward?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the towel backward, execute the following phases: 1) Initial approach phase (start at [0.480, 0.633]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.769, 0.685]). The trajectory involves 97 precise waypoints with total movement distance of 0.383." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4413", "trajectory_length": 97, "key_frame_indices": [ 0, 75, 96 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4413.json" } }, { "id": "droid_cotrack_episode_4394", "task": "Take the pen out of the mug and put it on the table; Take the pen out of the mug and put it on the table; Remove the green marker from the white mug on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4394/frame_0000.jpg", "droid-cotrack/images/episode_4394/frame_0127.jpg", "droid-cotrack/images/episode_4394/frame_0166.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the pen out of the mug and put it on the table; Take the pen out of the mug and put it on the table; Remove the green marker from the white mug on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Take the pen out of the mug and put it on the table; Take the pen out of the mug and put it on the table; Remove the green marker from the white mug on the table, execute the following phases: 1) Initial approach phase (start at [0.592, 0.685]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.565, 0.653]). The trajectory involves 167 precise waypoints with total movement distance of 0.114." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4394", "trajectory_length": 167, "key_frame_indices": [ 0, 127, 166 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4394.json" } }, { "id": "droid_cotrack_episode_1262", "task": "Move the blanket to the right; Pull the blanket back slightly; Pull the beddings back from the top left corner of the bed", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1262/frame_0000.jpg", "droid-cotrack/images/episode_1262/frame_0199.jpg", "droid-cotrack/images/episode_1262/frame_0302.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the blanket to the right; Pull the blanket back slightly; Pull the beddings back from the top left corner of the bed?" }, { "from": "gpt", "value": "To complete this repositioning: Move the blanket to the right; Pull the blanket back slightly; Pull the beddings back from the top left corner of the bed, execute the following phases: 1) Initial approach phase (start at [0.399, 0.362]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.648, 0.559]). The trajectory involves 303 precise waypoints with total movement distance of 1.150." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1262", "trajectory_length": 303, "key_frame_indices": [ 0, 199, 302 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1262.json" } }, { "id": "droid_cotrack_episode_10076", "task": "Slide the black and white brush to the left; Move the broom to the left; Slide the broom to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10076/frame_0000.jpg", "droid-cotrack/images/episode_10076/frame_0107.jpg", "droid-cotrack/images/episode_10076/frame_0140.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the black and white brush to the left; Move the broom to the left; Slide the broom to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the black and white brush to the left; Move the broom to the left; Slide the broom to the left, execute the following phases: 1) Initial approach phase (start at [0.681, 0.552]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.612, 0.500]). The trajectory involves 141 precise waypoints with total movement distance of 0.178." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10076", "trajectory_length": 141, "key_frame_indices": [ 0, 107, 140 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10076.json" } }, { "id": "droid_cotrack_episode_4379", "task": "Put the blue object into cream white bag on the leftmost chair; Pick the sachet and put it in the bag; Pick up the blue plastic on the table and put it in the bag", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4379/frame_0000.jpg", "droid-cotrack/images/episode_4379/frame_0137.jpg", "droid-cotrack/images/episode_4379/frame_0162.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the blue object into cream white bag on the leftmost chair; Pick the sachet and put it in the bag; Pick up the blue plastic on the table and put it in the bag?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the blue object into cream white bag on the leftmost chair; Pick the sachet and put it in the bag; Pick up the blue plastic on the table and put it in the bag, execute the following phases: 1) Initial approach phase (start at [0.533, 0.500]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.356, 0.712]). The trajectory involves 163 precise waypoints with total movement distance of 0.739." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4379", "trajectory_length": 163, "key_frame_indices": [ 0, 137, 162 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4379.json" } }, { "id": "droid_cotrack_episode_2084", "task": "Remove the red marker from the grey bowl, place the marker back in the bowl then take it out of the bowl; Take the red marker out of the grey bowl, place the marker back in the bowl then remove it from the bowl again; Remove the marker from the bowl and place it on the table and repeat it again", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2084/frame_0000.jpg", "droid-cotrack/images/episode_2084/frame_0258.jpg", "droid-cotrack/images/episode_2084/frame_0393.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the red marker from the grey bowl, place the marker back in the bowl then take it out of the bowl; Take the red marker out of the grey bowl, place the marker back in the bowl then remove it from the bowl again; Remove the marker from the bowl and place it on the table and repeat it again?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the red marker from the grey bowl, place the marker back in the bowl then take it out of the bowl; Take the red marker out of the grey bowl, place the marker back in the bowl then remove it from the bowl again; Remove the marker from the bowl and place it on the table and repeat it again, execute the following phases: 1) Initial approach phase (start at [0.516, 0.659]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.445, 0.579]). The trajectory involves 394 precise waypoints with total movement distance of 0.481." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2084", "trajectory_length": 394, "key_frame_indices": [ 0, 258, 393 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2084.json" } }, { "id": "droid_cotrack_episode_4026", "task": "Move the mug to the left slightly; Move the mug to the left; Move the mug cup to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4026/frame_0000.jpg", "droid-cotrack/images/episode_4026/frame_0129.jpg", "droid-cotrack/images/episode_4026/frame_0180.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug to the left slightly; Move the mug to the left; Move the mug cup to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug to the left slightly; Move the mug to the left; Move the mug cup to the left, execute the following phases: 1) Initial approach phase (start at [0.627, 0.461]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.582, 0.538]). The trajectory involves 181 precise waypoints with total movement distance of 0.157." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4026", "trajectory_length": 181, "key_frame_indices": [ 0, 129, 180 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4026.json" } }, { "id": "droid_cotrack_episode_6177", "task": "Pick up the mit, put over the pot lid and move the pot lid to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6177/frame_0000.jpg", "droid-cotrack/images/episode_6177/frame_0106.jpg", "droid-cotrack/images/episode_6177/frame_0407.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the mit, put over the pot lid and move the pot lid to the left?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the mit, put over the pot lid and move the pot lid to the left, execute the following phases: 1) Initial approach phase (start at [0.541, 0.783]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.592, 0.655]). The trajectory involves 408 precise waypoints with total movement distance of 0.910." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6177", "trajectory_length": 408, "key_frame_indices": [ 0, 106, 407 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6177.json" } }, { "id": "droid_cotrack_episode_4319", "task": "Pick up the small red plastic and put on top of the big red plastic; Stack the packets on top of each other; Move the red paper to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4319/frame_0000.jpg", "droid-cotrack/images/episode_4319/frame_0162.jpg", "droid-cotrack/images/episode_4319/frame_0254.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the small red plastic and put on top of the big red plastic; Stack the packets on top of each other; Move the red paper to the left?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the small red plastic and put on top of the big red plastic; Stack the packets on top of each other; Move the red paper to the left, execute the following phases: 1) Initial approach phase (start at [0.672, 0.914]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.590, 0.923]). The trajectory involves 255 precise waypoints with total movement distance of 0.496." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4319", "trajectory_length": 255, "key_frame_indices": [ 0, 162, 254 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4319.json" } }, { "id": "droid_cotrack_episode_4383", "task": "Put the marker in the cup; Put the marker in the cup; Pick up the marker and put it in the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4383/frame_0000.jpg", "droid-cotrack/images/episode_4383/frame_0136.jpg", "droid-cotrack/images/episode_4383/frame_0217.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the cup; Put the marker in the cup; Pick up the marker and put it in the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the marker in the cup; Put the marker in the cup; Pick up the marker and put it in the cup, execute the following phases: 1) Initial approach phase (start at [0.588, 0.549]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.641, 0.532]). The trajectory involves 218 precise waypoints with total movement distance of 0.451." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4383", "trajectory_length": 218, "key_frame_indices": [ 0, 136, 217 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4383.json" } }, { "id": "droid_cotrack_episode_1025", "task": "Move the brown object forward; Move the brown object forward; Lift the brown object and lay it on the table.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1025/frame_0000.jpg", "droid-cotrack/images/episode_1025/frame_0157.jpg", "droid-cotrack/images/episode_1025/frame_0206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the brown object forward; Move the brown object forward; Lift the brown object and lay it on the table.?" }, { "from": "gpt", "value": "To complete this repositioning: Move the brown object forward; Move the brown object forward; Lift the brown object and lay it on the table., execute the following phases: 1) Initial approach phase (start at [0.178, 0.882]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.128, 0.841]). The trajectory involves 207 precise waypoints with total movement distance of 1.010." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1025", "trajectory_length": 207, "key_frame_indices": [ 0, 157, 206 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1025.json" } }, { "id": "droid_cotrack_episode_604", "task": "Move the yellow mug forwards; Move the cup forward; Move the cup slightly backward", "selected_step": 1, "image": [ "droid-cotrack/images/episode_604/frame_0000.jpg", "droid-cotrack/images/episode_604/frame_0157.jpg", "droid-cotrack/images/episode_604/frame_0178.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the yellow mug forwards; Move the cup forward; Move the cup slightly backward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the yellow mug forwards; Move the cup forward; Move the cup slightly backward, execute the following phases: 1) Initial approach phase (start at [0.609, 0.530]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.664, 0.618]). The trajectory involves 179 precise waypoints with total movement distance of 0.219." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_604", "trajectory_length": 179, "key_frame_indices": [ 0, 157, 178 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_604.json" } }, { "id": "droid_cotrack_episode_10223", "task": "Remove the lid from the pot and put it inside the bowl; Take the lid off the pan and put it in the blue bowl; Pick up the lid from the pan and put it in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10223/frame_0000.jpg", "droid-cotrack/images/episode_10223/frame_0035.jpg", "droid-cotrack/images/episode_10223/frame_0264.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the lid from the pot and put it inside the bowl; Take the lid off the pan and put it in the blue bowl; Pick up the lid from the pan and put it in the bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Remove the lid from the pot and put it inside the bowl; Take the lid off the pan and put it in the blue bowl; Pick up the lid from the pan and put it in the bowl, execute the following phases: 1) Initial approach phase (start at [0.739, 0.584]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.646, 0.710]). The trajectory involves 265 precise waypoints with total movement distance of 1.226." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10223", "trajectory_length": 265, "key_frame_indices": [ 0, 35, 264 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10223.json" } }, { "id": "droid_cotrack_episode_6793", "task": "Put the blue-yellow building block on top of the orange building block; Put the yellow and blue stack of blocks on top of the orange block; Take the blue and yellow legos stuck together and put them on the orange legos", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6793/frame_0000.jpg", "droid-cotrack/images/episode_6793/frame_0280.jpg", "droid-cotrack/images/episode_6793/frame_0415.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the blue-yellow building block on top of the orange building block; Put the yellow and blue stack of blocks on top of the orange block; Take the blue and yellow legos stuck together and put them on the orange legos?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the blue-yellow building block on top of the orange building block; Put the yellow and blue stack of blocks on top of the orange block; Take the blue and yellow legos stuck together and put them on the orange legos, execute the following phases: 1) Initial approach phase (start at [0.535, 0.870]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.469, 0.845]). The trajectory involves 416 precise waypoints with total movement distance of 1.447." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6793", "trajectory_length": 416, "key_frame_indices": [ 0, 280, 415 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6793.json" } }, { "id": "droid_cotrack_episode_1738", "task": "Put the stick block on the tower; Put the rectangular block on top of the stack; Put the remaining block on the built up tower", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1738/frame_0000.jpg", "droid-cotrack/images/episode_1738/frame_0002.jpg", "droid-cotrack/images/episode_1738/frame_0164.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the stick block on the tower; Put the rectangular block on top of the stack; Put the remaining block on the built up tower?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the stick block on the tower; Put the rectangular block on top of the stack; Put the remaining block on the built up tower, execute the following phases: 1) Initial approach phase (start at [0.476, 0.588]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.475, 0.587]). The trajectory involves 165 precise waypoints with total movement distance of 0.730." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1738", "trajectory_length": 165, "key_frame_indices": [ 0, 2, 164 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1738.json" } }, { "id": "droid_cotrack_episode_10060", "task": "Pick up the lid and place it on the pot; Put the lid on the pot; Cover the pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10060/frame_0000.jpg", "droid-cotrack/images/episode_10060/frame_0101.jpg", "droid-cotrack/images/episode_10060/frame_0165.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the lid and place it on the pot; Put the lid on the pot; Cover the pot?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the lid and place it on the pot; Put the lid on the pot; Cover the pot, execute the following phases: 1) Initial approach phase (start at [0.390, 0.559]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.423, 0.518]). The trajectory involves 166 precise waypoints with total movement distance of 0.163." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10060", "trajectory_length": 166, "key_frame_indices": [ 0, 101, 165 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10060.json" } }, { "id": "droid_cotrack_episode_2057", "task": "Press the button atop the toaster oven; Press the button on top of the oven.; Press the switch on the coffee marker", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2057/frame_0000.jpg", "droid-cotrack/images/episode_2057/frame_0111.jpg", "droid-cotrack/images/episode_2057/frame_0252.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Press the button atop the toaster oven; Press the button on top of the oven.; Press the switch on the coffee marker?" }, { "from": "gpt", "value": "To complete this button/switch activation: Press the button atop the toaster oven; Press the button on top of the oven.; Press the switch on the coffee marker, execute the following phases: 1) Initial approach phase (start at [0.646, 0.274]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.645, 0.274]). The trajectory involves 253 precise waypoints with total movement distance of 0.070." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2057", "trajectory_length": 253, "key_frame_indices": [ 0, 111, 252 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2057.json" } }, { "id": "droid_cotrack_episode_1147", "task": "Move the styrofoam container to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1147/frame_0000.jpg", "droid-cotrack/images/episode_1147/frame_0227.jpg", "droid-cotrack/images/episode_1147/frame_0239.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the styrofoam container to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the styrofoam container to the left, execute the following phases: 1) Initial approach phase (start at [0.584, 0.456]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.574, 0.454]). The trajectory involves 240 precise waypoints with total movement distance of 0.119." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1147", "trajectory_length": 240, "key_frame_indices": [ 0, 227, 239 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1147.json" } }, { "id": "droid_cotrack_episode_10170", "task": "Move the orange book to the top left shelf; Move the orange book on the middle shelf to the right shelf; Move the orange book to the first right shelf", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10170/frame_0000.jpg", "droid-cotrack/images/episode_10170/frame_0115.jpg", "droid-cotrack/images/episode_10170/frame_0246.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the orange book to the top left shelf; Move the orange book on the middle shelf to the right shelf; Move the orange book to the first right shelf?" }, { "from": "gpt", "value": "To complete this repositioning: Move the orange book to the top left shelf; Move the orange book on the middle shelf to the right shelf; Move the orange book to the first right shelf, execute the following phases: 1) Initial approach phase (start at [0.569, 0.531]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.629, 0.501]). The trajectory involves 247 precise waypoints with total movement distance of 0.448." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10170", "trajectory_length": 247, "key_frame_indices": [ 0, 115, 246 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10170.json" } }, { "id": "droid_cotrack_episode_197", "task": "Remove the screwdriver from the tray and put it on the purple placemat; Remove the screwdriver from the tray and put it on the table; Move the screwdriver from the wooden tray to the table.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_197/frame_0000.jpg", "droid-cotrack/images/episode_197/frame_0093.jpg", "droid-cotrack/images/episode_197/frame_0150.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the screwdriver from the tray and put it on the purple placemat; Remove the screwdriver from the tray and put it on the table; Move the screwdriver from the wooden tray to the table.?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the screwdriver from the tray and put it on the purple placemat; Remove the screwdriver from the tray and put it on the table; Move the screwdriver from the wooden tray to the table., execute the following phases: 1) Initial approach phase (start at [0.535, 0.755]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.535, 0.751]). The trajectory involves 151 precise waypoints with total movement distance of 0.056." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_197", "trajectory_length": 151, "key_frame_indices": [ 0, 93, 150 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_197.json" } }, { "id": "droid_cotrack_episode_10114", "task": "Slide the mug forward; Move the mug backward; Move the yellow mug forward", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10114/frame_0000.jpg", "droid-cotrack/images/episode_10114/frame_0138.jpg", "droid-cotrack/images/episode_10114/frame_0161.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the mug forward; Move the mug backward; Move the yellow mug forward?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the mug forward; Move the mug backward; Move the yellow mug forward, execute the following phases: 1) Initial approach phase (start at [0.452, 0.408]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.488, 0.606]). The trajectory involves 162 precise waypoints with total movement distance of 0.312." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10114", "trajectory_length": 162, "key_frame_indices": [ 0, 138, 161 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10114.json" } }, { "id": "droid_cotrack_episode_4228", "task": "Put the yellow block in the orange pan; Put the block in the pan; Put the yellow block in the pan", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4228/frame_0000.jpg", "droid-cotrack/images/episode_4228/frame_0085.jpg", "droid-cotrack/images/episode_4228/frame_0133.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the yellow block in the orange pan; Put the block in the pan; Put the yellow block in the pan?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the yellow block in the orange pan; Put the block in the pan; Put the yellow block in the pan, execute the following phases: 1) Initial approach phase (start at [0.697, 0.413]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.681, 0.460]). The trajectory involves 134 precise waypoints with total movement distance of 0.423." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4228", "trajectory_length": 134, "key_frame_indices": [ 0, 85, 133 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4228.json" } }, { "id": "droid_cotrack_episode_1611", "task": "Close the drawer; Close the cabinet; Close the left cabinet door", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1611/frame_0000.jpg", "droid-cotrack/images/episode_1611/frame_0171.jpg", "droid-cotrack/images/episode_1611/frame_0345.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the drawer; Close the cabinet; Close the left cabinet door?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the drawer; Close the cabinet; Close the left cabinet door, execute the following phases: 1) Initial approach phase (start at [0.325, 0.232]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.319, 0.227]). The trajectory involves 346 precise waypoints with total movement distance of 0.387." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1611", "trajectory_length": 346, "key_frame_indices": [ 0, 171, 345 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1611.json" } }, { "id": "droid_cotrack_episode_6005", "task": "Use the white towel to wipe the the plate; Pick up the towel and clean the plate; Use the cloth to wipe the plate", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6005/frame_0000.jpg", "droid-cotrack/images/episode_6005/frame_0409.jpg", "droid-cotrack/images/episode_6005/frame_0454.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the white towel to wipe the the plate; Pick up the towel and clean the plate; Use the cloth to wipe the plate?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Use the white towel to wipe the the plate; Pick up the towel and clean the plate; Use the cloth to wipe the plate, execute the following phases: 1) Initial approach phase (start at [0.341, 0.759]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.354, 0.722]). The trajectory involves 455 precise waypoints with total movement distance of 1.896." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6005", "trajectory_length": 455, "key_frame_indices": [ 0, 409, 454 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6005.json" } }, { "id": "droid_cotrack_episode_961", "task": "Open the door; Open the door; Push the handle down and open the door", "selected_step": 1, "image": [ "droid-cotrack/images/episode_961/frame_0000.jpg", "droid-cotrack/images/episode_961/frame_0187.jpg", "droid-cotrack/images/episode_961/frame_0214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the door; Open the door; Push the handle down and open the door?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the door; Open the door; Push the handle down and open the door, execute the following phases: 1) Initial approach phase (start at [0.774, 0.822]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.807, 0.719]). The trajectory involves 215 precise waypoints with total movement distance of 0.231." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_961", "trajectory_length": 215, "key_frame_indices": [ 0, 187, 214 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_961.json" } }, { "id": "droid_cotrack_episode_1043", "task": "Empty the liquid contents in the white object.; Move the white contact lens case to the right.; Pick up the lens case, empty its contents on the counter, and then place the case back on the counter", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1043/frame_0000.jpg", "droid-cotrack/images/episode_1043/frame_0151.jpg", "droid-cotrack/images/episode_1043/frame_0504.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Empty the liquid contents in the white object.; Move the white contact lens case to the right.; Pick up the lens case, empty its contents on the counter, and then place the case back on the counter?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Empty the liquid contents in the white object.; Move the white contact lens case to the right.; Pick up the lens case, empty its contents on the counter, and then place the case back on the counter, execute the following phases: 1) Initial approach phase (start at [0.471, 0.545]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.471, 0.547]). The trajectory involves 505 precise waypoints with total movement distance of 0.690." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1043", "trajectory_length": 505, "key_frame_indices": [ 0, 151, 504 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1043.json" } }, { "id": "droid_cotrack_episode_31", "task": "Pick up the purple plush toy from the pot and put it in the sink; Put the purple plush in the sink; Put the purple plush toy inside the sink.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_31/frame_0000.jpg", "droid-cotrack/images/episode_31/frame_0255.jpg", "droid-cotrack/images/episode_31/frame_0276.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the purple plush toy from the pot and put it in the sink; Put the purple plush in the sink; Put the purple plush toy inside the sink.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the purple plush toy from the pot and put it in the sink; Put the purple plush in the sink; Put the purple plush toy inside the sink., execute the following phases: 1) Initial approach phase (start at [0.615, 0.675]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.425, 0.816]). The trajectory involves 277 precise waypoints with total movement distance of 0.706." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_31", "trajectory_length": 277, "key_frame_indices": [ 0, 255, 276 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_31.json" } }, { "id": "droid_cotrack_episode_501", "task": "Pick up the white towel from the table and put it on the black tripod.; Put the white towel on the black rod; Hang the cloth on the stand", "selected_step": 1, "image": [ "droid-cotrack/images/episode_501/frame_0000.jpg", "droid-cotrack/images/episode_501/frame_0172.jpg", "droid-cotrack/images/episode_501/frame_0246.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the white towel from the table and put it on the black tripod.; Put the white towel on the black rod; Hang the cloth on the stand?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the white towel from the table and put it on the black tripod.; Put the white towel on the black rod; Hang the cloth on the stand, execute the following phases: 1) Initial approach phase (start at [0.429, 0.573]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.540, 0.280]). The trajectory involves 247 precise waypoints with total movement distance of 0.981." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_501", "trajectory_length": 247, "key_frame_indices": [ 0, 172, 246 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_501.json" } }, { "id": "droid_cotrack_episode_1008", "task": "Pick up the lid and put it on the jar", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1008/frame_0000.jpg", "droid-cotrack/images/episode_1008/frame_0089.jpg", "droid-cotrack/images/episode_1008/frame_0210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the lid and put it on the jar?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the lid and put it on the jar, execute the following phases: 1) Initial approach phase (start at [0.617, 0.573]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.742, 0.325]). The trajectory involves 211 precise waypoints with total movement distance of 0.688." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1008", "trajectory_length": 211, "key_frame_indices": [ 0, 89, 210 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1008.json" } }, { "id": "droid_cotrack_episode_1724", "task": "Close the left cabinet door; Close the cabinet door; Close the bottom cupboard drawer", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1724/frame_0000.jpg", "droid-cotrack/images/episode_1724/frame_0059.jpg", "droid-cotrack/images/episode_1724/frame_0100.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the left cabinet door; Close the cabinet door; Close the bottom cupboard drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the left cabinet door; Close the cabinet door; Close the bottom cupboard drawer, execute the following phases: 1) Initial approach phase (start at [0.256, 0.335]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.266, 0.346]). The trajectory involves 101 precise waypoints with total movement distance of 0.057." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1724", "trajectory_length": 101, "key_frame_indices": [ 0, 59, 100 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1724.json" } }, { "id": "droid_cotrack_episode_45", "task": "Remove the marker the blue cup and place it on the apron; Put the marker on the towel; Take the marker out of the blue cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_45/frame_0000.jpg", "droid-cotrack/images/episode_45/frame_0075.jpg", "droid-cotrack/images/episode_45/frame_0214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker the blue cup and place it on the apron; Put the marker on the towel; Take the marker out of the blue cup?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the marker the blue cup and place it on the apron; Put the marker on the towel; Take the marker out of the blue cup, execute the following phases: 1) Initial approach phase (start at [0.568, 0.502]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.569, 0.500]). The trajectory involves 215 precise waypoints with total movement distance of 0.080." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_45", "trajectory_length": 215, "key_frame_indices": [ 0, 75, 214 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_45.json" } }, { "id": "droid_cotrack_episode_410", "task": "Take the snack pack out of the sink", "selected_step": 1, "image": [ "droid-cotrack/images/episode_410/frame_0000.jpg", "droid-cotrack/images/episode_410/frame_0125.jpg", "droid-cotrack/images/episode_410/frame_0189.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the snack pack out of the sink?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Take the snack pack out of the sink, execute the following phases: 1) Initial approach phase (start at [0.523, 0.929]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.328, 0.774]). The trajectory involves 190 precise waypoints with total movement distance of 0.441." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_410", "trajectory_length": 190, "key_frame_indices": [ 0, 125, 189 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_410.json" } }, { "id": "droid_cotrack_episode_851", "task": "Put the marker on the table; Take the marker out of the mug and put it on the table; Remove the green marker from the white mug", "selected_step": 1, "image": [ "droid-cotrack/images/episode_851/frame_0000.jpg", "droid-cotrack/images/episode_851/frame_0197.jpg", "droid-cotrack/images/episode_851/frame_0287.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker on the table; Take the marker out of the mug and put it on the table; Remove the green marker from the white mug?" }, { "from": "gpt", "value": "To complete this repositioning: Put the marker on the table; Take the marker out of the mug and put it on the table; Remove the green marker from the white mug, execute the following phases: 1) Initial approach phase (start at [0.633, 0.382]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.629, 0.376]). The trajectory involves 288 precise waypoints with total movement distance of 0.105." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_851", "trajectory_length": 288, "key_frame_indices": [ 0, 197, 287 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_851.json" } }, { "id": "droid_cotrack_episode_6567", "task": "Pick the cup and move it to the right on the table; Move the white cup to the right; Move the cup to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6567/frame_0000.jpg", "droid-cotrack/images/episode_6567/frame_0214.jpg", "droid-cotrack/images/episode_6567/frame_0319.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the cup and move it to the right on the table; Move the white cup to the right; Move the cup to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Pick the cup and move it to the right on the table; Move the white cup to the right; Move the cup to the right, execute the following phases: 1) Initial approach phase (start at [0.412, 0.454]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.600, 0.409]). The trajectory involves 320 precise waypoints with total movement distance of 0.412." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6567", "trajectory_length": 320, "key_frame_indices": [ 0, 214, 319 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6567.json" } }, { "id": "droid_cotrack_episode_10083", "task": "Place the silver jar on the microwave; Put the cup on the top of the microwave; Put the cup on the microwave", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10083/frame_0000.jpg", "droid-cotrack/images/episode_10083/frame_0082.jpg", "droid-cotrack/images/episode_10083/frame_0218.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the silver jar on the microwave; Put the cup on the top of the microwave; Put the cup on the microwave?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Place the silver jar on the microwave; Put the cup on the top of the microwave; Put the cup on the microwave, execute the following phases: 1) Initial approach phase (start at [0.414, 0.507]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.551, 0.280]). The trajectory involves 219 precise waypoints with total movement distance of 0.405." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10083", "trajectory_length": 219, "key_frame_indices": [ 0, 82, 218 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10083.json" } }, { "id": "droid_cotrack_episode_10202", "task": "Move the white mug from left to right; Move the mug to the right; Move the mug cup to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10202/frame_0000.jpg", "droid-cotrack/images/episode_10202/frame_0109.jpg", "droid-cotrack/images/episode_10202/frame_0155.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the white mug from left to right; Move the mug to the right; Move the mug cup to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the white mug from left to right; Move the mug to the right; Move the mug cup to the right, execute the following phases: 1) Initial approach phase (start at [0.605, 0.650]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.594, 0.512]). The trajectory involves 156 precise waypoints with total movement distance of 0.279." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10202", "trajectory_length": 156, "key_frame_indices": [ 0, 109, 155 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10202.json" } }, { "id": "droid_cotrack_episode_10012", "task": "Spoon some contents from the white bowl into the green bowl twice; Transfer two spoonful of contents from the right plate to the left plate; Pick up two spoons of objects from the bowl on the right and put them in the bowl on the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10012/frame_0000.jpg", "droid-cotrack/images/episode_10012/frame_0143.jpg", "droid-cotrack/images/episode_10012/frame_1072.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Spoon some contents from the white bowl into the green bowl twice; Transfer two spoonful of contents from the right plate to the left plate; Pick up two spoons of objects from the bowl on the right and put them in the bowl on the left?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Spoon some contents from the white bowl into the green bowl twice; Transfer two spoonful of contents from the right plate to the left plate; Pick up two spoons of objects from the bowl on the right and put them in the bowl on the left, execute the following phases: 1) Initial approach phase (start at [0.593, 0.673]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.596, 0.673]). The trajectory involves 1073 precise waypoints with total movement distance of 0.513." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10012", "trajectory_length": 1073, "key_frame_indices": [ 0, 143, 1072 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10012.json" } }, { "id": "droid_cotrack_episode_1362", "task": "Use the towel next to the red mug to wipe the black pan; Clean the pan with a cloth; Use one red and white towel to wipe the black pan.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1362/frame_0000.jpg", "droid-cotrack/images/episode_1362/frame_0447.jpg", "droid-cotrack/images/episode_1362/frame_0467.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the towel next to the red mug to wipe the black pan; Clean the pan with a cloth; Use one red and white towel to wipe the black pan.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Use the towel next to the red mug to wipe the black pan; Clean the pan with a cloth; Use one red and white towel to wipe the black pan., execute the following phases: 1) Initial approach phase (start at [0.562, 0.811]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.551, 0.809]). The trajectory involves 468 precise waypoints with total movement distance of 0.257." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1362", "trajectory_length": 468, "key_frame_indices": [ 0, 447, 467 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1362.json" } }, { "id": "droid_cotrack_episode_1301", "task": "Close the bottom drawer; Close the bottom drawer of the cabinet to the right; Close the drawer", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1301/frame_0000.jpg", "droid-cotrack/images/episode_1301/frame_0108.jpg", "droid-cotrack/images/episode_1301/frame_0179.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the bottom drawer; Close the bottom drawer of the cabinet to the right; Close the drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the bottom drawer; Close the bottom drawer of the cabinet to the right; Close the drawer, execute the following phases: 1) Initial approach phase (start at [0.635, 0.815]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.626, 0.798]). The trajectory involves 180 precise waypoints with total movement distance of 0.187." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1301", "trajectory_length": 180, "key_frame_indices": [ 0, 108, 179 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1301.json" } }, { "id": "droid_cotrack_episode_1260", "task": "Pour the contents from the clear jar into the orange bowl; Pour the contents in the jug into the red bowl; Pick up the cup and pour it's contents in the red bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1260/frame_0000.jpg", "droid-cotrack/images/episode_1260/frame_0165.jpg", "droid-cotrack/images/episode_1260/frame_0326.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour the contents from the clear jar into the orange bowl; Pour the contents in the jug into the red bowl; Pick up the cup and pour it's contents in the red bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Pour the contents from the clear jar into the orange bowl; Pour the contents in the jug into the red bowl; Pick up the cup and pour it's contents in the red bowl, execute the following phases: 1) Initial approach phase (start at [0.512, 0.919]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.511, 0.922]). The trajectory involves 327 precise waypoints with total movement distance of 0.347." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1260", "trajectory_length": 327, "key_frame_indices": [ 0, 165, 326 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1260.json" } }, { "id": "droid_cotrack_episode_4180", "task": "Close the door shut; Close the door; Close the door", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4180/frame_0000.jpg", "droid-cotrack/images/episode_4180/frame_0081.jpg", "droid-cotrack/images/episode_4180/frame_0121.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the door shut; Close the door; Close the door?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the door shut; Close the door; Close the door, execute the following phases: 1) Initial approach phase (start at [0.577, 0.447]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.485, 0.408]). The trajectory involves 122 precise waypoints with total movement distance of 0.158." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4180", "trajectory_length": 122, "key_frame_indices": [ 0, 81, 121 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4180.json" } }, { "id": "droid_cotrack_episode_355", "task": "Close the left cabinet door; Close the left cabinet door.; Close the left door of the bottom cabinet", "selected_step": 1, "image": [ "droid-cotrack/images/episode_355/frame_0000.jpg", "droid-cotrack/images/episode_355/frame_0044.jpg", "droid-cotrack/images/episode_355/frame_0071.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the left cabinet door; Close the left cabinet door.; Close the left door of the bottom cabinet?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the left cabinet door; Close the left cabinet door.; Close the left door of the bottom cabinet, execute the following phases: 1) Initial approach phase (start at [0.298, 0.684]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.305, 0.683]). The trajectory involves 72 precise waypoints with total movement distance of 0.026." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_355", "trajectory_length": 72, "key_frame_indices": [ 0, 44, 71 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_355.json" } }, { "id": "droid_cotrack_episode_1400", "task": "Remove the towel from the bag; Pick up the pink towel from the bag and put it on the counter; Take the pink towel out of the bag and place it on the right side of the counter.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1400/frame_0000.jpg", "droid-cotrack/images/episode_1400/frame_0435.jpg", "droid-cotrack/images/episode_1400/frame_0502.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the towel from the bag; Pick up the pink towel from the bag and put it on the counter; Take the pink towel out of the bag and place it on the right side of the counter.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Remove the towel from the bag; Pick up the pink towel from the bag and put it on the counter; Take the pink towel out of the bag and place it on the right side of the counter., execute the following phases: 1) Initial approach phase (start at [0.433, 0.633]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.527, 0.866]). The trajectory involves 503 precise waypoints with total movement distance of 0.826." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1400", "trajectory_length": 503, "key_frame_indices": [ 0, 435, 502 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1400.json" } }, { "id": "droid_cotrack_episode_2146", "task": "Flip the switch; Turn off the switch; Turn off the light", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2146/frame_0000.jpg", "droid-cotrack/images/episode_2146/frame_0141.jpg", "droid-cotrack/images/episode_2146/frame_0146.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Flip the switch; Turn off the switch; Turn off the light?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Flip the switch; Turn off the switch; Turn off the light, execute the following phases: 1) Initial approach phase (start at [0.577, 0.200]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.579, 0.203]). The trajectory involves 147 precise waypoints with total movement distance of 0.092." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2146", "trajectory_length": 147, "key_frame_indices": [ 0, 141, 146 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2146.json" } }, { "id": "droid_cotrack_episode_6582", "task": "Uncover the pot and put it on the stove; Uncover the pot to the back right; Remove the lid from the bigger pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6582/frame_0000.jpg", "droid-cotrack/images/episode_6582/frame_0195.jpg", "droid-cotrack/images/episode_6582/frame_0281.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Uncover the pot and put it on the stove; Uncover the pot to the back right; Remove the lid from the bigger pot?" }, { "from": "gpt", "value": "To complete this repositioning: Uncover the pot and put it on the stove; Uncover the pot to the back right; Remove the lid from the bigger pot, execute the following phases: 1) Initial approach phase (start at [0.733, 0.295]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.726, 0.294]). The trajectory involves 282 precise waypoints with total movement distance of 0.335." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6582", "trajectory_length": 282, "key_frame_indices": [ 0, 195, 281 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6582.json" } }, { "id": "droid_cotrack_episode_2150", "task": "Put the white and orange packet upright; Put the plastic bag upright; Put the yellow bag upright", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2150/frame_0000.jpg", "droid-cotrack/images/episode_2150/frame_0097.jpg", "droid-cotrack/images/episode_2150/frame_0236.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the white and orange packet upright; Put the plastic bag upright; Put the yellow bag upright?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the white and orange packet upright; Put the plastic bag upright; Put the yellow bag upright, execute the following phases: 1) Initial approach phase (start at [0.546, 0.613]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.517, 0.451]). The trajectory involves 237 precise waypoints with total movement distance of 0.712." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2150", "trajectory_length": 237, "key_frame_indices": [ 0, 97, 236 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2150.json" } }, { "id": "droid_cotrack_episode_6827", "task": "Move the mouse to the left on the desk; Move the mouse to the left; Move the mouse to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6827/frame_0000.jpg", "droid-cotrack/images/episode_6827/frame_0159.jpg", "droid-cotrack/images/episode_6827/frame_0284.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mouse to the left on the desk; Move the mouse to the left; Move the mouse to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mouse to the left on the desk; Move the mouse to the left; Move the mouse to the left, execute the following phases: 1) Initial approach phase (start at [0.578, 0.767]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.480, 0.578]). The trajectory involves 285 precise waypoints with total movement distance of 0.465." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6827", "trajectory_length": 285, "key_frame_indices": [ 0, 159, 284 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6827.json" } }, { "id": "droid_cotrack_episode_4313", "task": "Take the pen out of the cup; Put the blue sharpie on the table; Take the pen out of the black mug", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4313/frame_0000.jpg", "droid-cotrack/images/episode_4313/frame_0097.jpg", "droid-cotrack/images/episode_4313/frame_0119.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the pen out of the cup; Put the blue sharpie on the table; Take the pen out of the black mug?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Take the pen out of the cup; Put the blue sharpie on the table; Take the pen out of the black mug, execute the following phases: 1) Initial approach phase (start at [0.545, 0.304]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.430, 0.419]). The trajectory involves 120 precise waypoints with total movement distance of 0.611." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4313", "trajectory_length": 120, "key_frame_indices": [ 0, 97, 119 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4313.json" } }, { "id": "droid_cotrack_episode_6186", "task": "Remove the blue cup out of the dishwasher", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6186/frame_0000.jpg", "droid-cotrack/images/episode_6186/frame_0207.jpg", "droid-cotrack/images/episode_6186/frame_0284.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the blue cup out of the dishwasher?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the blue cup out of the dishwasher, execute the following phases: 1) Initial approach phase (start at [0.466, 0.740]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.465, 0.432]). The trajectory involves 285 precise waypoints with total movement distance of 0.562." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6186", "trajectory_length": 285, "key_frame_indices": [ 0, 207, 284 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6186.json" } }, { "id": "droid_cotrack_episode_1609", "task": "Pick up one snack packet from the top shelf and put it on the counter", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1609/frame_0000.jpg", "droid-cotrack/images/episode_1609/frame_0101.jpg", "droid-cotrack/images/episode_1609/frame_0205.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up one snack packet from the top shelf and put it on the counter?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up one snack packet from the top shelf and put it on the counter, execute the following phases: 1) Initial approach phase (start at [0.236, 0.387]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.237, 0.388]). The trajectory involves 206 precise waypoints with total movement distance of 0.106." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1609", "trajectory_length": 206, "key_frame_indices": [ 0, 101, 205 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1609.json" } }, { "id": "droid_cotrack_episode_4123", "task": "Stack the bowls; Put the left bowl in the right bowl; Put the black bowl in the pink bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4123/frame_0000.jpg", "droid-cotrack/images/episode_4123/frame_0129.jpg", "droid-cotrack/images/episode_4123/frame_0161.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Stack the bowls; Put the left bowl in the right bowl; Put the black bowl in the pink bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Stack the bowls; Put the left bowl in the right bowl; Put the black bowl in the pink bowl, execute the following phases: 1) Initial approach phase (start at [0.425, 0.591]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.473, 0.467]). The trajectory involves 162 precise waypoints with total movement distance of 0.601." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4123", "trajectory_length": 162, "key_frame_indices": [ 0, 129, 161 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4123.json" } }, { "id": "droid_cotrack_episode_4100", "task": "Stir the white bowl with the straw on the white plate", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4100/frame_0000.jpg", "droid-cotrack/images/episode_4100/frame_0388.jpg", "droid-cotrack/images/episode_4100/frame_0431.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Stir the white bowl with the straw on the white plate?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Stir the white bowl with the straw on the white plate, execute the following phases: 1) Initial approach phase (start at [0.511, 0.612]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.510, 0.613]). The trajectory involves 432 precise waypoints with total movement distance of 0.183." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4100", "trajectory_length": 432, "key_frame_indices": [ 0, 388, 431 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4100.json" } }, { "id": "droid_cotrack_episode_4079", "task": "Move the tap nozzle to the left; Move the tap to the left; Push the faucet to the left side of the sink.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4079/frame_0000.jpg", "droid-cotrack/images/episode_4079/frame_0091.jpg", "droid-cotrack/images/episode_4079/frame_0113.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the tap nozzle to the left; Move the tap to the left; Push the faucet to the left side of the sink.?" }, { "from": "gpt", "value": "To complete this repositioning: Move the tap nozzle to the left; Move the tap to the left; Push the faucet to the left side of the sink., execute the following phases: 1) Initial approach phase (start at [0.535, 0.377]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.537, 0.375]). The trajectory involves 114 precise waypoints with total movement distance of 0.039." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4079", "trajectory_length": 114, "key_frame_indices": [ 0, 91, 113 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4079.json" } }, { "id": "droid_cotrack_episode_56", "task": "Move the right cylindrical block towards you; Move the wooden item to the right; Move the wooden rod backward on the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_56/frame_0000.jpg", "droid-cotrack/images/episode_56/frame_0098.jpg", "droid-cotrack/images/episode_56/frame_0118.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the right cylindrical block towards you; Move the wooden item to the right; Move the wooden rod backward on the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the right cylindrical block towards you; Move the wooden item to the right; Move the wooden rod backward on the right, execute the following phases: 1) Initial approach phase (start at [0.601, 0.416]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.660, 0.516]). The trajectory involves 119 precise waypoints with total movement distance of 0.201." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_56", "trajectory_length": 119, "key_frame_indices": [ 0, 98, 118 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_56.json" } }, { "id": "droid_cotrack_episode_6812", "task": "Push down the switch on the toaster; Push down the switch of the toaster; Turn on the toaster", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6812/frame_0000.jpg", "droid-cotrack/images/episode_6812/frame_0067.jpg", "droid-cotrack/images/episode_6812/frame_0078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push down the switch on the toaster; Push down the switch of the toaster; Turn on the toaster?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push down the switch on the toaster; Push down the switch of the toaster; Turn on the toaster, execute the following phases: 1) Initial approach phase (start at [0.694, 0.556]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.589, 0.569]). The trajectory involves 79 precise waypoints with total movement distance of 0.499." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6812", "trajectory_length": 79, "key_frame_indices": [ 0, 67, 78 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6812.json" } }, { "id": "droid_cotrack_episode_4278", "task": "Pick the bottle on the table and place it in the box; Pick the bottle at the center of the table and place it in the holder; Put the black bottle on the wooden rack", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4278/frame_0000.jpg", "droid-cotrack/images/episode_4278/frame_0074.jpg", "droid-cotrack/images/episode_4278/frame_0133.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the bottle on the table and place it in the box; Pick the bottle at the center of the table and place it in the holder; Put the black bottle on the wooden rack?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the bottle on the table and place it in the box; Pick the bottle at the center of the table and place it in the holder; Put the black bottle on the wooden rack, execute the following phases: 1) Initial approach phase (start at [0.576, 0.643]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.701, 0.555]). The trajectory involves 134 precise waypoints with total movement distance of 0.474." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4278", "trajectory_length": 134, "key_frame_indices": [ 0, 74, 133 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4278.json" } }, { "id": "droid_cotrack_episode_630", "task": "Put the purple object in the sink; Pick up the purple plush toy from the pot and drop it in the sink; Take the purple plush toy out of the silver pot and put it in the sink.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_630/frame_0000.jpg", "droid-cotrack/images/episode_630/frame_0108.jpg", "droid-cotrack/images/episode_630/frame_0121.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the purple object in the sink; Pick up the purple plush toy from the pot and drop it in the sink; Take the purple plush toy out of the silver pot and put it in the sink.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the purple object in the sink; Pick up the purple plush toy from the pot and drop it in the sink; Take the purple plush toy out of the silver pot and put it in the sink., execute the following phases: 1) Initial approach phase (start at [0.615, 0.640]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.604, 0.662]). The trajectory involves 122 precise waypoints with total movement distance of 0.604." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_630", "trajectory_length": 122, "key_frame_indices": [ 0, 108, 121 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_630.json" } }, { "id": "droid_cotrack_episode_2023", "task": "Pour the contents of the blue cup into the silver pot; Pour the contents of the blue cup into the pot; Pour the contents of the blue mug into the silver pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2023/frame_0000.jpg", "droid-cotrack/images/episode_2023/frame_0338.jpg", "droid-cotrack/images/episode_2023/frame_0377.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour the contents of the blue cup into the silver pot; Pour the contents of the blue cup into the pot; Pour the contents of the blue mug into the silver pot?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Pour the contents of the blue cup into the silver pot; Pour the contents of the blue cup into the pot; Pour the contents of the blue mug into the silver pot, execute the following phases: 1) Initial approach phase (start at [0.587, 0.531]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.581, 0.525]). The trajectory involves 378 precise waypoints with total movement distance of 0.642." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2023", "trajectory_length": 378, "key_frame_indices": [ 0, 338, 377 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2023.json" } }, { "id": "droid_cotrack_episode_4397", "task": "Move the marker to the left.; Move the marker; Move the marker to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4397/frame_0000.jpg", "droid-cotrack/images/episode_4397/frame_0098.jpg", "droid-cotrack/images/episode_4397/frame_0152.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the marker to the left.; Move the marker; Move the marker to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the marker to the left.; Move the marker; Move the marker to the left, execute the following phases: 1) Initial approach phase (start at [0.472, 0.489]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.385, 0.423]). The trajectory involves 153 precise waypoints with total movement distance of 0.268." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4397", "trajectory_length": 153, "key_frame_indices": [ 0, 98, 152 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4397.json" } }, { "id": "droid_cotrack_episode_4140", "task": "Put the pen inside the cup; Put the pen in the cup; Put the pen inside the yellow cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4140/frame_0000.jpg", "droid-cotrack/images/episode_4140/frame_0162.jpg", "droid-cotrack/images/episode_4140/frame_0262.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pen inside the cup; Put the pen in the cup; Put the pen inside the yellow cup?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the pen inside the cup; Put the pen in the cup; Put the pen inside the yellow cup, execute the following phases: 1) Initial approach phase (start at [0.610, 0.475]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.472, 0.271]). The trajectory involves 263 precise waypoints with total movement distance of 0.481." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4140", "trajectory_length": 263, "key_frame_indices": [ 0, 162, 262 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4140.json" } }, { "id": "droid_cotrack_episode_720", "task": "Put the marker in the cup; Put the marker in the yellow mug; Put the marker in the mug cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_720/frame_0000.jpg", "droid-cotrack/images/episode_720/frame_0141.jpg", "droid-cotrack/images/episode_720/frame_0204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the cup; Put the marker in the yellow mug; Put the marker in the mug cup?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the marker in the cup; Put the marker in the yellow mug; Put the marker in the mug cup, execute the following phases: 1) Initial approach phase (start at [0.574, 0.422]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.508, 0.394]). The trajectory involves 205 precise waypoints with total movement distance of 0.437." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_720", "trajectory_length": 205, "key_frame_indices": [ 0, 141, 204 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_720.json" } }, { "id": "droid_cotrack_episode_1699", "task": "Remove the mug from the sink and place it on the left side of the counter; Remove the mug from the sink; Remove the flask from the sink and put it on the left side of the countertop", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1699/frame_0000.jpg", "droid-cotrack/images/episode_1699/frame_0118.jpg", "droid-cotrack/images/episode_1699/frame_0262.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the mug from the sink and place it on the left side of the counter; Remove the mug from the sink; Remove the flask from the sink and put it on the left side of the countertop?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the mug from the sink and place it on the left side of the counter; Remove the mug from the sink; Remove the flask from the sink and put it on the left side of the countertop, execute the following phases: 1) Initial approach phase (start at [0.613, 0.918]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.524, 0.655]). The trajectory involves 263 precise waypoints with total movement distance of 0.669." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1699", "trajectory_length": 263, "key_frame_indices": [ 0, 118, 262 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1699.json" } }, { "id": "droid_cotrack_episode_6443", "task": "Put the pen in the cup; Remove then pen from the cup; Pick up the pen from the cup and put it on the counter", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6443/frame_0000.jpg", "droid-cotrack/images/episode_6443/frame_0056.jpg", "droid-cotrack/images/episode_6443/frame_0102.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pen in the cup; Remove then pen from the cup; Pick up the pen from the cup and put it on the counter?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the pen in the cup; Remove then pen from the cup; Pick up the pen from the cup and put it on the counter, execute the following phases: 1) Initial approach phase (start at [0.452, 0.185]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.449, 0.184]). The trajectory involves 103 precise waypoints with total movement distance of 0.040." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6443", "trajectory_length": 103, "key_frame_indices": [ 0, 56, 102 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6443.json" } }, { "id": "droid_cotrack_episode_2114", "task": "Put the yellow block into the bowl; Put the yellow block in the bowl; Pick up the yellow block from the table and put it in the bowl.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2114/frame_0000.jpg", "droid-cotrack/images/episode_2114/frame_0115.jpg", "droid-cotrack/images/episode_2114/frame_0187.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the yellow block into the bowl; Put the yellow block in the bowl; Pick up the yellow block from the table and put it in the bowl.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the yellow block into the bowl; Put the yellow block in the bowl; Pick up the yellow block from the table and put it in the bowl., execute the following phases: 1) Initial approach phase (start at [0.743, 0.559]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.696, 0.551]). The trajectory involves 188 precise waypoints with total movement distance of 0.287." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2114", "trajectory_length": 188, "key_frame_indices": [ 0, 115, 187 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2114.json" } }, { "id": "droid_cotrack_episode_4530", "task": "Pick up the white bottle and put it on the right side of the table; Move the white bottle to the right; Move the salt cellar to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4530/frame_0000.jpg", "droid-cotrack/images/episode_4530/frame_0168.jpg", "droid-cotrack/images/episode_4530/frame_0240.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the white bottle and put it on the right side of the table; Move the white bottle to the right; Move the salt cellar to the right?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the white bottle and put it on the right side of the table; Move the white bottle to the right; Move the salt cellar to the right, execute the following phases: 1) Initial approach phase (start at [0.393, 0.521]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.589, 0.650]). The trajectory involves 241 precise waypoints with total movement distance of 0.896." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4530", "trajectory_length": 241, "key_frame_indices": [ 0, 168, 240 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4530.json" } }, { "id": "droid_cotrack_episode_4157", "task": "Pick the pen from the table, put it in the cup, place it back on the table then put it in the cup again; Put the marker in the mug, put it on the table, then put it back in the mug; Pick the marker on the table, put it in the cup, place it back on the table then put it in the cup again", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4157/frame_0000.jpg", "droid-cotrack/images/episode_4157/frame_0385.jpg", "droid-cotrack/images/episode_4157/frame_0625.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the pen from the table, put it in the cup, place it back on the table then put it in the cup again; Put the marker in the mug, put it on the table, then put it back in the mug; Pick the marker on the table, put it in the cup, place it back on the table then put it in the cup again?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the pen from the table, put it in the cup, place it back on the table then put it in the cup again; Put the marker in the mug, put it on the table, then put it back in the mug; Pick the marker on the table, put it in the cup, place it back on the table then put it in the cup again, execute the following phases: 1) Initial approach phase (start at [0.837, 0.479]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.698, 0.399]). The trajectory involves 626 precise waypoints with total movement distance of 1.419." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4157", "trajectory_length": 626, "key_frame_indices": [ 0, 385, 625 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4157.json" } }, { "id": "droid_cotrack_episode_6830", "task": "Close the lid of the bowl; Close the clear container; Close the storage box", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6830/frame_0000.jpg", "droid-cotrack/images/episode_6830/frame_0128.jpg", "droid-cotrack/images/episode_6830/frame_0184.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the lid of the bowl; Close the clear container; Close the storage box?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the lid of the bowl; Close the clear container; Close the storage box, execute the following phases: 1) Initial approach phase (start at [0.324, 0.644]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.309, 0.539]). The trajectory involves 185 precise waypoints with total movement distance of 0.324." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6830", "trajectory_length": 185, "key_frame_indices": [ 0, 128, 184 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6830.json" } }, { "id": "droid_cotrack_episode_866", "task": "Use the wooden spoon to stir the contents of the pot; Stir the contents in the rice cooker; Use the wooden spoon to stir in the cooker", "selected_step": 1, "image": [ "droid-cotrack/images/episode_866/frame_0000.jpg", "droid-cotrack/images/episode_866/frame_0130.jpg", "droid-cotrack/images/episode_866/frame_0373.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the wooden spoon to stir the contents of the pot; Stir the contents in the rice cooker; Use the wooden spoon to stir in the cooker?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Use the wooden spoon to stir the contents of the pot; Stir the contents in the rice cooker; Use the wooden spoon to stir in the cooker, execute the following phases: 1) Initial approach phase (start at [0.546, 0.353]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.548, 0.353]). The trajectory involves 374 precise waypoints with total movement distance of 0.153." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_866", "trajectory_length": 374, "key_frame_indices": [ 0, 130, 373 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_866.json" } }, { "id": "droid_cotrack_episode_10220", "task": "Place the lid on the pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10220/frame_0000.jpg", "droid-cotrack/images/episode_10220/frame_0110.jpg", "droid-cotrack/images/episode_10220/frame_0182.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the lid on the pot?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Place the lid on the pot, execute the following phases: 1) Initial approach phase (start at [0.331, 0.564]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.411, 0.570]). The trajectory involves 183 precise waypoints with total movement distance of 0.361." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10220", "trajectory_length": 183, "key_frame_indices": [ 0, 110, 182 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10220.json" } }, { "id": "droid_cotrack_episode_4232", "task": "Move the orange ketchup bottle closer to the orange cup; Move the orange objects slightly backward; Move the sauce bottle forward", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4232/frame_0000.jpg", "droid-cotrack/images/episode_4232/frame_0119.jpg", "droid-cotrack/images/episode_4232/frame_0182.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the orange ketchup bottle closer to the orange cup; Move the orange objects slightly backward; Move the sauce bottle forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the orange ketchup bottle closer to the orange cup; Move the orange objects slightly backward; Move the sauce bottle forward, execute the following phases: 1) Initial approach phase (start at [0.578, 0.620]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.575, 0.740]). The trajectory involves 183 precise waypoints with total movement distance of 0.323." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4232", "trajectory_length": 183, "key_frame_indices": [ 0, 119, 182 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4232.json" } }, { "id": "droid_cotrack_episode_1335", "task": "Remove one bottle from the box.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1335/frame_0000.jpg", "droid-cotrack/images/episode_1335/frame_0090.jpg", "droid-cotrack/images/episode_1335/frame_0142.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove one bottle from the box.?" }, { "from": "gpt", "value": "To complete this repositioning: Remove one bottle from the box., execute the following phases: 1) Initial approach phase (start at [0.433, 0.506]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.524, 0.495]). The trajectory involves 143 precise waypoints with total movement distance of 0.458." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1335", "trajectory_length": 143, "key_frame_indices": [ 0, 90, 142 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1335.json" } }, { "id": "droid_cotrack_episode_2165", "task": "Move the green object to the left; Move the plush to the left; Move the stuffed toy forward", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2165/frame_0000.jpg", "droid-cotrack/images/episode_2165/frame_0134.jpg", "droid-cotrack/images/episode_2165/frame_0197.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the green object to the left; Move the plush to the left; Move the stuffed toy forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the green object to the left; Move the plush to the left; Move the stuffed toy forward, execute the following phases: 1) Initial approach phase (start at [0.478, 0.693]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.394, 0.490]). The trajectory involves 198 precise waypoints with total movement distance of 0.577." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2165", "trajectory_length": 198, "key_frame_indices": [ 0, 134, 197 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2165.json" } }, { "id": "droid_cotrack_episode_4197", "task": "Use the towel to wipe the table; Use the towel to wipe the table; Use the towel to wipe the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4197/frame_0000.jpg", "droid-cotrack/images/episode_4197/frame_0165.jpg", "droid-cotrack/images/episode_4197/frame_0261.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the towel to wipe the table; Use the towel to wipe the table; Use the towel to wipe the table?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Use the towel to wipe the table; Use the towel to wipe the table; Use the towel to wipe the table, execute the following phases: 1) Initial approach phase (start at [0.687, 0.866]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.676, 0.884]). The trajectory involves 262 precise waypoints with total movement distance of 0.683." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4197", "trajectory_length": 262, "key_frame_indices": [ 0, 165, 261 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4197.json" } }, { "id": "droid_cotrack_episode_6498", "task": "Hang the cloth on the tablet stand; Put a towel on the stand on the table; Hang the cloth on the wooden board", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6498/frame_0000.jpg", "droid-cotrack/images/episode_6498/frame_0087.jpg", "droid-cotrack/images/episode_6498/frame_0148.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Hang the cloth on the tablet stand; Put a towel on the stand on the table; Hang the cloth on the wooden board?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Hang the cloth on the tablet stand; Put a towel on the stand on the table; Hang the cloth on the wooden board, execute the following phases: 1) Initial approach phase (start at [0.448, 0.888]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.433, 0.877]). The trajectory involves 149 precise waypoints with total movement distance of 0.214." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6498", "trajectory_length": 149, "key_frame_indices": [ 0, 87, 148 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6498.json" } }, { "id": "droid_cotrack_episode_10252", "task": "Move the cup to the right of the plate; Move the clear cup to the right side of the table; Move the cup to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10252/frame_0000.jpg", "droid-cotrack/images/episode_10252/frame_0203.jpg", "droid-cotrack/images/episode_10252/frame_0289.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup to the right of the plate; Move the clear cup to the right side of the table; Move the cup to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup to the right of the plate; Move the clear cup to the right side of the table; Move the cup to the right, execute the following phases: 1) Initial approach phase (start at [0.687, 0.509]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.689, 0.512]). The trajectory involves 290 precise waypoints with total movement distance of 0.222." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10252", "trajectory_length": 290, "key_frame_indices": [ 0, 203, 289 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10252.json" } }, { "id": "droid_cotrack_episode_1219", "task": "Put the marker on the table; Take the marker from the bowl and put it on the table; Take the marker from the white bowl and place it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1219/frame_0000.jpg", "droid-cotrack/images/episode_1219/frame_0169.jpg", "droid-cotrack/images/episode_1219/frame_0246.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker on the table; Take the marker from the bowl and put it on the table; Take the marker from the white bowl and place it on the table?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the marker on the table; Take the marker from the bowl and put it on the table; Take the marker from the white bowl and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.520, 0.682]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.405, 0.473]). The trajectory involves 247 precise waypoints with total movement distance of 0.612." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1219", "trajectory_length": 247, "key_frame_indices": [ 0, 169, 246 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1219.json" } }, { "id": "droid_cotrack_episode_184", "task": "Put the cloth on the black rod; Hang the white cloth on the black stand; Hang up the cloth on the stand", "selected_step": 1, "image": [ "droid-cotrack/images/episode_184/frame_0000.jpg", "droid-cotrack/images/episode_184/frame_0098.jpg", "droid-cotrack/images/episode_184/frame_0169.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the cloth on the black rod; Hang the white cloth on the black stand; Hang up the cloth on the stand?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the cloth on the black rod; Hang the white cloth on the black stand; Hang up the cloth on the stand, execute the following phases: 1) Initial approach phase (start at [0.555, 0.439]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.455, 0.286]). The trajectory involves 170 precise waypoints with total movement distance of 0.386." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_184", "trajectory_length": 170, "key_frame_indices": [ 0, 98, 169 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_184.json" } }, { "id": "droid_cotrack_episode_869", "task": "Pick up the white spoon from the mug cup and put it on the table.; Remove the spoon from the mug; Remove the spoon from the cup and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_869/frame_0000.jpg", "droid-cotrack/images/episode_869/frame_0227.jpg", "droid-cotrack/images/episode_869/frame_0244.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the white spoon from the mug cup and put it on the table.; Remove the spoon from the mug; Remove the spoon from the cup and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the white spoon from the mug cup and put it on the table.; Remove the spoon from the mug; Remove the spoon from the cup and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.674, 0.638]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.677, 0.669]). The trajectory involves 245 precise waypoints with total movement distance of 0.260." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_869", "trajectory_length": 245, "key_frame_indices": [ 0, 227, 244 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_869.json" } }, { "id": "droid_cotrack_episode_6825", "task": "Pick up the medicine bottle and move it forward.; Move the bottle backwards; Move the bottle forward", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6825/frame_0000.jpg", "droid-cotrack/images/episode_6825/frame_0063.jpg", "droid-cotrack/images/episode_6825/frame_0118.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the medicine bottle and move it forward.; Move the bottle backwards; Move the bottle forward?" }, { "from": "gpt", "value": "To complete this repositioning: Pick up the medicine bottle and move it forward.; Move the bottle backwards; Move the bottle forward, execute the following phases: 1) Initial approach phase (start at [0.751, 0.488]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.582, 0.416]). The trajectory involves 119 precise waypoints with total movement distance of 0.410." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6825", "trajectory_length": 119, "key_frame_indices": [ 0, 63, 118 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6825.json" } }, { "id": "droid_cotrack_episode_1002", "task": "Cover the pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1002/frame_0000.jpg", "droid-cotrack/images/episode_1002/frame_0136.jpg", "droid-cotrack/images/episode_1002/frame_0321.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Cover the pot?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Cover the pot, execute the following phases: 1) Initial approach phase (start at [0.431, 0.519]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.523, 0.562]). The trajectory involves 322 precise waypoints with total movement distance of 0.675." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1002", "trajectory_length": 322, "key_frame_indices": [ 0, 136, 321 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1002.json" } }, { "id": "droid_cotrack_episode_466", "task": "Put the red bull can on the metal object", "selected_step": 1, "image": [ "droid-cotrack/images/episode_466/frame_0000.jpg", "droid-cotrack/images/episode_466/frame_0110.jpg", "droid-cotrack/images/episode_466/frame_0197.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the red bull can on the metal object?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the red bull can on the metal object, execute the following phases: 1) Initial approach phase (start at [0.394, 0.793]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.343, 0.750]). The trajectory involves 198 precise waypoints with total movement distance of 0.294." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_466", "trajectory_length": 198, "key_frame_indices": [ 0, 110, 197 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_466.json" } }, { "id": "droid_cotrack_episode_971", "task": "Pick up the glue stick from the yellow cup and put it on the silver object.; Pick up the object from the cup and put it on the silver object.; Remove the glue stick from the bowl and place it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_971/frame_0000.jpg", "droid-cotrack/images/episode_971/frame_0132.jpg", "droid-cotrack/images/episode_971/frame_0212.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the glue stick from the yellow cup and put it on the silver object.; Pick up the object from the cup and put it on the silver object.; Remove the glue stick from the bowl and place it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the glue stick from the yellow cup and put it on the silver object.; Pick up the object from the cup and put it on the silver object.; Remove the glue stick from the bowl and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.576, 0.327]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.572, 0.338]). The trajectory involves 213 precise waypoints with total movement distance of 0.093." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_971", "trajectory_length": 213, "key_frame_indices": [ 0, 132, 212 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_971.json" } }, { "id": "droid_cotrack_episode_6295", "task": "Remove the snacks from the orange packet and put them in the black bowl.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6295/frame_0000.jpg", "droid-cotrack/images/episode_6295/frame_0254.jpg", "droid-cotrack/images/episode_6295/frame_0284.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the snacks from the orange packet and put them in the black bowl.?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the snacks from the orange packet and put them in the black bowl., execute the following phases: 1) Initial approach phase (start at [0.484, 0.634]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.480, 0.612]). The trajectory involves 285 precise waypoints with total movement distance of 0.758." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6295", "trajectory_length": 285, "key_frame_indices": [ 0, 254, 284 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6295.json" } }, { "id": "droid_cotrack_episode_1424", "task": "Place the white lid on top of the clear food container; Place the white lid on top of the glass food container; Pick up the lid from the table and put it on the object", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1424/frame_0000.jpg", "droid-cotrack/images/episode_1424/frame_0196.jpg", "droid-cotrack/images/episode_1424/frame_0417.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the white lid on top of the clear food container; Place the white lid on top of the glass food container; Pick up the lid from the table and put it on the object?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Place the white lid on top of the clear food container; Place the white lid on top of the glass food container; Pick up the lid from the table and put it on the object, execute the following phases: 1) Initial approach phase (start at [0.679, 0.448]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.645, 0.388]). The trajectory involves 418 precise waypoints with total movement distance of 0.806." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1424", "trajectory_length": 418, "key_frame_indices": [ 0, 196, 417 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1424.json" } }, { "id": "droid_cotrack_episode_1172", "task": "Take the red pen out of the blue bowl; Remove the pan from the bowl and put it on the table; Put the pen on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1172/frame_0000.jpg", "droid-cotrack/images/episode_1172/frame_0133.jpg", "droid-cotrack/images/episode_1172/frame_0178.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the red pen out of the blue bowl; Remove the pan from the bowl and put it on the table; Put the pen on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Take the red pen out of the blue bowl; Remove the pan from the bowl and put it on the table; Put the pen on the table, execute the following phases: 1) Initial approach phase (start at [0.535, 0.537]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.503, 0.749]). The trajectory involves 179 precise waypoints with total movement distance of 0.513." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1172", "trajectory_length": 179, "key_frame_indices": [ 0, 133, 178 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1172.json" } }, { "id": "droid_cotrack_episode_6151", "task": "Open the third cabinet door from the right; Open the cabinet door on the right; Open the top right cabinet door", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6151/frame_0000.jpg", "droid-cotrack/images/episode_6151/frame_0174.jpg", "droid-cotrack/images/episode_6151/frame_0265.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the third cabinet door from the right; Open the cabinet door on the right; Open the top right cabinet door?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the third cabinet door from the right; Open the cabinet door on the right; Open the top right cabinet door, execute the following phases: 1) Initial approach phase (start at [0.551, 0.424]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.627, 0.426]). The trajectory involves 266 precise waypoints with total movement distance of 0.161." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6151", "trajectory_length": 266, "key_frame_indices": [ 0, 174, 265 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6151.json" } }, { "id": "droid_cotrack_episode_4585", "task": "Fold the towel on the table; Fold the blue and white towel from right to left then left to right, fold the towel from top to bottom; Fold the towel on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4585/frame_0000.jpg", "droid-cotrack/images/episode_4585/frame_0073.jpg", "droid-cotrack/images/episode_4585/frame_0419.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the towel on the table; Fold the blue and white towel from right to left then left to right, fold the towel from top to bottom; Fold the towel on the table?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Fold the towel on the table; Fold the blue and white towel from right to left then left to right, fold the towel from top to bottom; Fold the towel on the table, execute the following phases: 1) Initial approach phase (start at [0.493, 0.653]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.551, 0.625]). The trajectory involves 420 precise waypoints with total movement distance of 1.500." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4585", "trajectory_length": 420, "key_frame_indices": [ 0, 73, 419 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4585.json" } }, { "id": "droid_cotrack_episode_680", "task": "Place the cup to the left of the shoot; Move the cup from the right to the left; Move the cup to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_680/frame_0000.jpg", "droid-cotrack/images/episode_680/frame_0151.jpg", "droid-cotrack/images/episode_680/frame_0154.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the cup to the left of the shoot; Move the cup from the right to the left; Move the cup to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Place the cup to the left of the shoot; Move the cup from the right to the left; Move the cup to the left, execute the following phases: 1) Initial approach phase (start at [0.640, 0.213]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.585, 0.217]). The trajectory involves 155 precise waypoints with total movement distance of 0.551." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_680", "trajectory_length": 155, "key_frame_indices": [ 0, 151, 154 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_680.json" } }, { "id": "droid_cotrack_episode_10203", "task": "Pick up the green object and put it on the table; Put the green cube on the wooden platform; Put a green cube on the plank", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10203/frame_0000.jpg", "droid-cotrack/images/episode_10203/frame_0104.jpg", "droid-cotrack/images/episode_10203/frame_0225.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the green object and put it on the table; Put the green cube on the wooden platform; Put a green cube on the plank?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the green object and put it on the table; Put the green cube on the wooden platform; Put a green cube on the plank, execute the following phases: 1) Initial approach phase (start at [0.508, 0.859]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.609, 0.895]). The trajectory involves 226 precise waypoints with total movement distance of 0.321." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10203", "trajectory_length": 226, "key_frame_indices": [ 0, 104, 225 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10203.json" } }, { "id": "droid_cotrack_episode_4385", "task": "Place the pink fleece blanket on the clear storage bin", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4385/frame_0000.jpg", "droid-cotrack/images/episode_4385/frame_0196.jpg", "droid-cotrack/images/episode_4385/frame_0789.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the pink fleece blanket on the clear storage bin?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Place the pink fleece blanket on the clear storage bin, execute the following phases: 1) Initial approach phase (start at [0.447, 0.804]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.901, 0.746]). The trajectory involves 790 precise waypoints with total movement distance of 2.074." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4385", "trajectory_length": 790, "key_frame_indices": [ 0, 196, 789 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4385.json" } }, { "id": "droid_cotrack_episode_880", "task": "Pick the marker from the pot and put it on the table; Put the marker on the table; Remove the marker from the pot and place it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_880/frame_0000.jpg", "droid-cotrack/images/episode_880/frame_0118.jpg", "droid-cotrack/images/episode_880/frame_0193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the marker from the pot and put it on the table; Put the marker on the table; Remove the marker from the pot and place it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the marker from the pot and put it on the table; Put the marker on the table; Remove the marker from the pot and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.543, 0.467]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.543, 0.467]). The trajectory involves 194 precise waypoints with total movement distance of 0.051." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_880", "trajectory_length": 194, "key_frame_indices": [ 0, 118, 193 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_880.json" } }, { "id": "droid_cotrack_episode_6503", "task": "Put the red lid on the clear bowl; Put the lid on the lunch box; Pick up the small orange lid and put it on the small plastic lunch box.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6503/frame_0000.jpg", "droid-cotrack/images/episode_6503/frame_0155.jpg", "droid-cotrack/images/episode_6503/frame_0231.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the red lid on the clear bowl; Put the lid on the lunch box; Pick up the small orange lid and put it on the small plastic lunch box.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the red lid on the clear bowl; Put the lid on the lunch box; Pick up the small orange lid and put it on the small plastic lunch box., execute the following phases: 1) Initial approach phase (start at [0.676, 0.289]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.722, 0.261]). The trajectory involves 232 precise waypoints with total movement distance of 0.300." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6503", "trajectory_length": 232, "key_frame_indices": [ 0, 155, 231 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6503.json" } }, { "id": "droid_cotrack_episode_6350", "task": "Move the black sneaker on the top shelf of the shoe rack to the bottom shelf; Move the black sneaker from the top shelf and put it on the bottom shelf; Take the black shoe and put it on the bottom of the shoe rack", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6350/frame_0000.jpg", "droid-cotrack/images/episode_6350/frame_0125.jpg", "droid-cotrack/images/episode_6350/frame_0242.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the black sneaker on the top shelf of the shoe rack to the bottom shelf; Move the black sneaker from the top shelf and put it on the bottom shelf; Take the black shoe and put it on the bottom of the shoe rack?" }, { "from": "gpt", "value": "To complete this repositioning: Move the black sneaker on the top shelf of the shoe rack to the bottom shelf; Move the black sneaker from the top shelf and put it on the bottom shelf; Take the black shoe and put it on the bottom of the shoe rack, execute the following phases: 1) Initial approach phase (start at [0.470, 0.368]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.448, 0.929]). The trajectory involves 243 precise waypoints with total movement distance of 1.750." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6350", "trajectory_length": 243, "key_frame_indices": [ 0, 125, 242 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6350.json" } }, { "id": "droid_cotrack_episode_350", "task": "Put the marker into the white cup; Put the green marker in the white mug; Put the marker inside the mug cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_350/frame_0000.jpg", "droid-cotrack/images/episode_350/frame_0071.jpg", "droid-cotrack/images/episode_350/frame_0122.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker into the white cup; Put the green marker in the white mug; Put the marker inside the mug cup?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the marker into the white cup; Put the green marker in the white mug; Put the marker inside the mug cup, execute the following phases: 1) Initial approach phase (start at [0.553, 0.745]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.583, 0.601]). The trajectory involves 123 precise waypoints with total movement distance of 0.440." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_350", "trajectory_length": 123, "key_frame_indices": [ 0, 71, 122 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_350.json" } }, { "id": "droid_cotrack_episode_10032", "task": "Move the silver cup to the right; Move the silver toothbrush holder to the right; Move the silver cup to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10032/frame_0000.jpg", "droid-cotrack/images/episode_10032/frame_0022.jpg", "droid-cotrack/images/episode_10032/frame_0163.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the silver cup to the right; Move the silver toothbrush holder to the right; Move the silver cup to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the silver cup to the right; Move the silver toothbrush holder to the right; Move the silver cup to the right, execute the following phases: 1) Initial approach phase (start at [0.451, 0.250]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.453, 0.251]). The trajectory involves 164 precise waypoints with total movement distance of 0.228." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10032", "trajectory_length": 164, "key_frame_indices": [ 0, 22, 163 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10032.json" } }, { "id": "droid_cotrack_episode_6329", "task": "Close the top drawer of the file cabinet to the left; Close the top drawer of the file cabinet on the left; Push the upper drawer closed", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6329/frame_0000.jpg", "droid-cotrack/images/episode_6329/frame_0056.jpg", "droid-cotrack/images/episode_6329/frame_0076.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the top drawer of the file cabinet to the left; Close the top drawer of the file cabinet on the left; Push the upper drawer closed?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the top drawer of the file cabinet to the left; Close the top drawer of the file cabinet on the left; Push the upper drawer closed, execute the following phases: 1) Initial approach phase (start at [0.481, 0.628]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.353, 0.624]). The trajectory involves 77 precise waypoints with total movement distance of 0.161." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6329", "trajectory_length": 77, "key_frame_indices": [ 0, 56, 76 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6329.json" } }, { "id": "droid_cotrack_episode_2268", "task": "Move the yellow basket forward; Move the yellow pot forward; Move the green bowl to the left of the gray pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2268/frame_0000.jpg", "droid-cotrack/images/episode_2268/frame_0180.jpg", "droid-cotrack/images/episode_2268/frame_0257.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the yellow basket forward; Move the yellow pot forward; Move the green bowl to the left of the gray pot?" }, { "from": "gpt", "value": "To complete this repositioning: Move the yellow basket forward; Move the yellow pot forward; Move the green bowl to the left of the gray pot, execute the following phases: 1) Initial approach phase (start at [0.555, 0.454]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.561, 0.458]). The trajectory involves 258 precise waypoints with total movement distance of 0.110." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2268", "trajectory_length": 258, "key_frame_indices": [ 0, 180, 257 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2268.json" } }, { "id": "droid_cotrack_episode_6648", "task": "Close then open the door; Close the glass door, open the glass door; Close and then open the shower door", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6648/frame_0000.jpg", "droid-cotrack/images/episode_6648/frame_0202.jpg", "droid-cotrack/images/episode_6648/frame_0223.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close then open the door; Close the glass door, open the glass door; Close and then open the shower door?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close then open the door; Close the glass door, open the glass door; Close and then open the shower door, execute the following phases: 1) Initial approach phase (start at [0.818, 0.333]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.856, 0.330]). The trajectory involves 224 precise waypoints with total movement distance of 0.338." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6648", "trajectory_length": 224, "key_frame_indices": [ 0, 202, 223 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6648.json" } }, { "id": "droid_cotrack_episode_1563", "task": "Pick up the sponge from the sink and clean the handle of the tap on the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1563/frame_0000.jpg", "droid-cotrack/images/episode_1563/frame_0163.jpg", "droid-cotrack/images/episode_1563/frame_0396.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the sponge from the sink and clean the handle of the tap on the right?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Pick up the sponge from the sink and clean the handle of the tap on the right, execute the following phases: 1) Initial approach phase (start at [0.510, 0.893]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.509, 0.900]). The trajectory involves 397 precise waypoints with total movement distance of 0.162." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1563", "trajectory_length": 397, "key_frame_indices": [ 0, 163, 396 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1563.json" } }, { "id": "droid_cotrack_episode_6828", "task": "Pick up the square object and put it on the table; Place the wooden cube on the table; Put the wooden cube on the stack on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6828/frame_0000.jpg", "droid-cotrack/images/episode_6828/frame_0088.jpg", "droid-cotrack/images/episode_6828/frame_0126.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the square object and put it on the table; Place the wooden cube on the table; Put the wooden cube on the stack on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the square object and put it on the table; Place the wooden cube on the table; Put the wooden cube on the stack on the table, execute the following phases: 1) Initial approach phase (start at [0.405, 0.349]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.531, 0.374]). The trajectory involves 127 precise waypoints with total movement distance of 0.664." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6828", "trajectory_length": 127, "key_frame_indices": [ 0, 88, 126 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6828.json" } }, { "id": "droid_cotrack_episode_1974", "task": "Pick up the marker and put it in the cup; Put the marker inside the mug; Put the marker in the mug cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1974/frame_0000.jpg", "droid-cotrack/images/episode_1974/frame_0123.jpg", "droid-cotrack/images/episode_1974/frame_0144.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the marker and put it in the cup; Put the marker inside the mug; Put the marker in the mug cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the marker and put it in the cup; Put the marker inside the mug; Put the marker in the mug cup, execute the following phases: 1) Initial approach phase (start at [0.376, 0.359]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.572, 0.278]). The trajectory involves 145 precise waypoints with total movement distance of 0.622." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1974", "trajectory_length": 145, "key_frame_indices": [ 0, 123, 144 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1974.json" } }, { "id": "droid_cotrack_episode_2094", "task": "Pick up the can and put it on the napkin", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2094/frame_0000.jpg", "droid-cotrack/images/episode_2094/frame_0091.jpg", "droid-cotrack/images/episode_2094/frame_0186.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the can and put it on the napkin?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the can and put it on the napkin, execute the following phases: 1) Initial approach phase (start at [0.514, 0.537]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.659, 0.521]). The trajectory involves 187 precise waypoints with total movement distance of 0.297." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2094", "trajectory_length": 187, "key_frame_indices": [ 0, 91, 186 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2094.json" } }, { "id": "droid_cotrack_episode_1202", "task": "Take the lid from the bowl and put it on the table; Put the pink plate on the table; Remove the pink plate from the blue bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1202/frame_0000.jpg", "droid-cotrack/images/episode_1202/frame_0147.jpg", "droid-cotrack/images/episode_1202/frame_0170.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the lid from the bowl and put it on the table; Put the pink plate on the table; Remove the pink plate from the blue bowl?" }, { "from": "gpt", "value": "To complete this repositioning: Take the lid from the bowl and put it on the table; Put the pink plate on the table; Remove the pink plate from the blue bowl, execute the following phases: 1) Initial approach phase (start at [0.708, 0.427]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.592, 0.607]). The trajectory involves 171 precise waypoints with total movement distance of 0.580." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1202", "trajectory_length": 171, "key_frame_indices": [ 0, 147, 170 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1202.json" } }, { "id": "droid_cotrack_episode_1222", "task": "Pick up the crayon from the box and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1222/frame_0000.jpg", "droid-cotrack/images/episode_1222/frame_0199.jpg", "droid-cotrack/images/episode_1222/frame_0217.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the crayon from the box and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the crayon from the box and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.254, 0.531]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.277, 0.532]). The trajectory involves 218 precise waypoints with total movement distance of 1.052." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1222", "trajectory_length": 218, "key_frame_indices": [ 0, 199, 217 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1222.json" } }, { "id": "droid_cotrack_episode_4299", "task": "Close the chamber of the coffee machine; Close the coffee maker; Close the coffee maker", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4299/frame_0000.jpg", "droid-cotrack/images/episode_4299/frame_0144.jpg", "droid-cotrack/images/episode_4299/frame_0228.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the chamber of the coffee machine; Close the coffee maker; Close the coffee maker?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the chamber of the coffee machine; Close the coffee maker; Close the coffee maker, execute the following phases: 1) Initial approach phase (start at [0.447, 0.215]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.456, 0.275]). The trajectory involves 229 precise waypoints with total movement distance of 0.210." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4299", "trajectory_length": 229, "key_frame_indices": [ 0, 144, 228 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4299.json" } }, { "id": "droid_cotrack_episode_2126", "task": "Turn off the light switch on the left; Flip up the left light switch; Turn on the left light switch", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2126/frame_0000.jpg", "droid-cotrack/images/episode_2126/frame_0122.jpg", "droid-cotrack/images/episode_2126/frame_0146.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn off the light switch on the left; Flip up the left light switch; Turn on the left light switch?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Turn off the light switch on the left; Flip up the left light switch; Turn on the left light switch, execute the following phases: 1) Initial approach phase (start at [0.524, 0.372]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.525, 0.360]). The trajectory involves 147 precise waypoints with total movement distance of 0.111." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2126", "trajectory_length": 147, "key_frame_indices": [ 0, 122, 146 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2126.json" } }, { "id": "droid_cotrack_episode_731", "task": "Press on the black object", "selected_step": 1, "image": [ "droid-cotrack/images/episode_731/frame_0000.jpg", "droid-cotrack/images/episode_731/frame_0035.jpg", "droid-cotrack/images/episode_731/frame_0106.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Press on the black object?" }, { "from": "gpt", "value": "To complete this button/switch activation: Press on the black object, execute the following phases: 1) Initial approach phase (start at [0.760, 0.839]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.760, 0.838]). The trajectory involves 107 precise waypoints with total movement distance of 0.037." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_731", "trajectory_length": 107, "key_frame_indices": [ 0, 35, 106 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_731.json" } }, { "id": "droid_cotrack_episode_4390", "task": "Pick up the towel from the table, wipe the black cup and put the towel back on the table; Use the towel to wipe the dark grey mug; Pick up the white towel, wipe the blue cup with it and put the towel back on the table.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4390/frame_0000.jpg", "droid-cotrack/images/episode_4390/frame_0028.jpg", "droid-cotrack/images/episode_4390/frame_0327.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the towel from the table, wipe the black cup and put the towel back on the table; Use the towel to wipe the dark grey mug; Pick up the white towel, wipe the blue cup with it and put the towel back on the table.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the towel from the table, wipe the black cup and put the towel back on the table; Use the towel to wipe the dark grey mug; Pick up the white towel, wipe the blue cup with it and put the towel back on the table., execute the following phases: 1) Initial approach phase (start at [0.647, 0.975]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.660, 0.974]). The trajectory involves 328 precise waypoints with total movement distance of 0.206." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4390", "trajectory_length": 328, "key_frame_indices": [ 0, 28, 327 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4390.json" } }, { "id": "droid_cotrack_episode_1315", "task": "Put the orange masking tape in the drawer; Place the orange masking tape in the open drawer; Put the orange masking tape in the drawer", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1315/frame_0000.jpg", "droid-cotrack/images/episode_1315/frame_0168.jpg", "droid-cotrack/images/episode_1315/frame_0188.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange masking tape in the drawer; Place the orange masking tape in the open drawer; Put the orange masking tape in the drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Put the orange masking tape in the drawer; Place the orange masking tape in the open drawer; Put the orange masking tape in the drawer, execute the following phases: 1) Initial approach phase (start at [0.498, 0.654]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.542, 0.889]). The trajectory involves 189 precise waypoints with total movement distance of 0.550." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1315", "trajectory_length": 189, "key_frame_indices": [ 0, 168, 188 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1315.json" } }, { "id": "droid_cotrack_episode_483", "task": "Remove the green cylindrical block from the top of the blue block; Put the green block on the table; Pick up the green object from the blue object and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_483/frame_0000.jpg", "droid-cotrack/images/episode_483/frame_0114.jpg", "droid-cotrack/images/episode_483/frame_0147.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the green cylindrical block from the top of the blue block; Put the green block on the table; Pick up the green object from the blue object and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Remove the green cylindrical block from the top of the blue block; Put the green block on the table; Pick up the green object from the blue object and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.587, 0.574]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.531, 0.502]). The trajectory involves 148 precise waypoints with total movement distance of 0.181." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_483", "trajectory_length": 148, "key_frame_indices": [ 0, 114, 147 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_483.json" } }, { "id": "droid_cotrack_episode_1554", "task": "Put the plastic bottle inside the bowl; Put the brown bottle in the bowl; Pick up the bottle from the stove and put it in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1554/frame_0000.jpg", "droid-cotrack/images/episode_1554/frame_0085.jpg", "droid-cotrack/images/episode_1554/frame_0194.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the plastic bottle inside the bowl; Put the brown bottle in the bowl; Pick up the bottle from the stove and put it in the bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the plastic bottle inside the bowl; Put the brown bottle in the bowl; Pick up the bottle from the stove and put it in the bowl, execute the following phases: 1) Initial approach phase (start at [0.636, 0.598]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.636, 0.600]). The trajectory involves 195 precise waypoints with total movement distance of 0.064." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1554", "trajectory_length": 195, "key_frame_indices": [ 0, 85, 194 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1554.json" } }, { "id": "droid_cotrack_episode_2224", "task": "Pick up the blue object on the table and put it in the bowl; Put the blue object inside the container; Put an item on the table in the transparent bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2224/frame_0000.jpg", "droid-cotrack/images/episode_2224/frame_0225.jpg", "droid-cotrack/images/episode_2224/frame_0254.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the blue object on the table and put it in the bowl; Put the blue object inside the container; Put an item on the table in the transparent bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the blue object on the table and put it in the bowl; Put the blue object inside the container; Put an item on the table in the transparent bowl, execute the following phases: 1) Initial approach phase (start at [0.462, 0.678]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.482, 0.669]). The trajectory involves 255 precise waypoints with total movement distance of 0.361." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2224", "trajectory_length": 255, "key_frame_indices": [ 0, 225, 254 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2224.json" } }, { "id": "droid_cotrack_episode_1543", "task": "Close the pot with the lid", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1543/frame_0000.jpg", "droid-cotrack/images/episode_1543/frame_0097.jpg", "droid-cotrack/images/episode_1543/frame_0237.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the pot with the lid?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the pot with the lid, execute the following phases: 1) Initial approach phase (start at [0.362, 0.436]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.523, 0.380]). The trajectory involves 238 precise waypoints with total movement distance of 0.741." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1543", "trajectory_length": 238, "key_frame_indices": [ 0, 97, 237 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1543.json" } }, { "id": "droid_cotrack_episode_8", "task": "Push down the button on the toaster.; Turn on the toaster; Push down the toaster lever", "selected_step": 1, "image": [ "droid-cotrack/images/episode_8/frame_0000.jpg", "droid-cotrack/images/episode_8/frame_0018.jpg", "droid-cotrack/images/episode_8/frame_0140.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push down the button on the toaster.; Turn on the toaster; Push down the toaster lever?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push down the button on the toaster.; Turn on the toaster; Push down the toaster lever, execute the following phases: 1) Initial approach phase (start at [0.343, 0.122]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.467, 0.347]). The trajectory involves 141 precise waypoints with total movement distance of 1.101." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_8", "trajectory_length": 141, "key_frame_indices": [ 0, 18, 140 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_8.json" } }, { "id": "droid_cotrack_episode_1626", "task": "Place the glass lid on the jar; Pick up the glass lid from the table and put it on the glass container.; Put the clear lid on the jar", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1626/frame_0000.jpg", "droid-cotrack/images/episode_1626/frame_0166.jpg", "droid-cotrack/images/episode_1626/frame_0226.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the glass lid on the jar; Pick up the glass lid from the table and put it on the glass container.; Put the clear lid on the jar?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Place the glass lid on the jar; Pick up the glass lid from the table and put it on the glass container.; Put the clear lid on the jar, execute the following phases: 1) Initial approach phase (start at [0.759, 0.584]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.775, 0.614]). The trajectory involves 227 precise waypoints with total movement distance of 0.186." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1626", "trajectory_length": 227, "key_frame_indices": [ 0, 166, 226 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1626.json" } }, { "id": "droid_cotrack_episode_1081", "task": "Put the cube inside the large, cube-shaped, wooden object", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1081/frame_0000.jpg", "droid-cotrack/images/episode_1081/frame_0089.jpg", "droid-cotrack/images/episode_1081/frame_0155.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the cube inside the large, cube-shaped, wooden object?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the cube inside the large, cube-shaped, wooden object, execute the following phases: 1) Initial approach phase (start at [0.630, 0.731]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.630, 0.733]). The trajectory involves 156 precise waypoints with total movement distance of 0.040." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1081", "trajectory_length": 156, "key_frame_indices": [ 0, 89, 155 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1081.json" } }, { "id": "droid_cotrack_episode_2228", "task": "Pick the lid and put it on the pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2228/frame_0000.jpg", "droid-cotrack/images/episode_2228/frame_0136.jpg", "droid-cotrack/images/episode_2228/frame_0230.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the lid and put it on the pot?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the lid and put it on the pot, execute the following phases: 1) Initial approach phase (start at [0.424, 0.586]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.439, 0.585]). The trajectory involves 231 precise waypoints with total movement distance of 0.179." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2228", "trajectory_length": 231, "key_frame_indices": [ 0, 136, 230 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2228.json" } }, { "id": "droid_cotrack_episode_1280", "task": "Put the cloth in the black box; Put the rag inside the black object; Place the white towel inside the black basket.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1280/frame_0000.jpg", "droid-cotrack/images/episode_1280/frame_0070.jpg", "droid-cotrack/images/episode_1280/frame_0307.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the cloth in the black box; Put the rag inside the black object; Place the white towel inside the black basket.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the cloth in the black box; Put the rag inside the black object; Place the white towel inside the black basket., execute the following phases: 1) Initial approach phase (start at [0.251, 0.779]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.377, 0.554]). The trajectory involves 308 precise waypoints with total movement distance of 1.675." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1280", "trajectory_length": 308, "key_frame_indices": [ 0, 70, 307 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1280.json" } }, { "id": "droid_cotrack_episode_1591", "task": "Pick up the orange marker from the mug and put it on the table.; Remove the orange object from the mug and put it on the table; Remove the marker from the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1591/frame_0000.jpg", "droid-cotrack/images/episode_1591/frame_0147.jpg", "droid-cotrack/images/episode_1591/frame_0229.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the orange marker from the mug and put it on the table.; Remove the orange object from the mug and put it on the table; Remove the marker from the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the orange marker from the mug and put it on the table.; Remove the orange object from the mug and put it on the table; Remove the marker from the cup, execute the following phases: 1) Initial approach phase (start at [0.652, 0.753]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.493, 0.558]). The trajectory involves 230 precise waypoints with total movement distance of 0.604." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1591", "trajectory_length": 230, "key_frame_indices": [ 0, 147, 229 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1591.json" } }, { "id": "droid_cotrack_episode_10231", "task": "Put the toy watermelon in the grey plate; Remove the watermelon toy from the basket and put it on the grey plate; Move the toy watermelon and put it on the grey plate", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10231/frame_0000.jpg", "droid-cotrack/images/episode_10231/frame_0124.jpg", "droid-cotrack/images/episode_10231/frame_0196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the toy watermelon in the grey plate; Remove the watermelon toy from the basket and put it on the grey plate; Move the toy watermelon and put it on the grey plate?" }, { "from": "gpt", "value": "To complete this repositioning: Put the toy watermelon in the grey plate; Remove the watermelon toy from the basket and put it on the grey plate; Move the toy watermelon and put it on the grey plate, execute the following phases: 1) Initial approach phase (start at [0.595, 0.740]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.501, 0.659]). The trajectory involves 197 precise waypoints with total movement distance of 0.513." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10231", "trajectory_length": 197, "key_frame_indices": [ 0, 124, 196 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10231.json" } }, { "id": "droid_cotrack_episode_1374", "task": "Move the faucet spout to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1374/frame_0000.jpg", "droid-cotrack/images/episode_1374/frame_0070.jpg", "droid-cotrack/images/episode_1374/frame_0116.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the faucet spout to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the faucet spout to the left, execute the following phases: 1) Initial approach phase (start at [0.597, 0.370]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.567, 0.338]). The trajectory involves 117 precise waypoints with total movement distance of 0.100." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1374", "trajectory_length": 117, "key_frame_indices": [ 0, 70, 116 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1374.json" } }, { "id": "droid_cotrack_episode_6394", "task": "Put the grey sock in the black bag; Put the grey sock in the laundry hamper; Take the gray air of socks from the bed and put it in the basket", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6394/frame_0000.jpg", "droid-cotrack/images/episode_6394/frame_0152.jpg", "droid-cotrack/images/episode_6394/frame_0226.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the grey sock in the black bag; Put the grey sock in the laundry hamper; Take the gray air of socks from the bed and put it in the basket?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the grey sock in the black bag; Put the grey sock in the laundry hamper; Take the gray air of socks from the bed and put it in the basket, execute the following phases: 1) Initial approach phase (start at [0.501, 0.334]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.501, 0.330]). The trajectory involves 227 precise waypoints with total movement distance of 0.134." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6394", "trajectory_length": 227, "key_frame_indices": [ 0, 152, 226 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6394.json" } }, { "id": "droid_cotrack_episode_10117", "task": "Press on the keyboard", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10117/frame_0000.jpg", "droid-cotrack/images/episode_10117/frame_0030.jpg", "droid-cotrack/images/episode_10117/frame_0126.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Press on the keyboard?" }, { "from": "gpt", "value": "To complete this button/switch activation: Press on the keyboard, execute the following phases: 1) Initial approach phase (start at [0.644, 0.618]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.645, 0.619]). The trajectory involves 127 precise waypoints with total movement distance of 0.042." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10117", "trajectory_length": 127, "key_frame_indices": [ 0, 30, 126 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10117.json" } }, { "id": "droid_cotrack_episode_1047", "task": "Put the green item in the bin", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1047/frame_0000.jpg", "droid-cotrack/images/episode_1047/frame_0139.jpg", "droid-cotrack/images/episode_1047/frame_0273.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the green item in the bin?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the green item in the bin, execute the following phases: 1) Initial approach phase (start at [0.721, 0.327]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.729, 0.322]). The trajectory involves 274 precise waypoints with total movement distance of 0.320." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1047", "trajectory_length": 274, "key_frame_indices": [ 0, 139, 273 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1047.json" } }, { "id": "droid_cotrack_episode_1274", "task": "Place the white and blue tube upright; Put the toothpaste upright; Pick up the tube from the countertop and make it sit upright.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1274/frame_0000.jpg", "droid-cotrack/images/episode_1274/frame_0098.jpg", "droid-cotrack/images/episode_1274/frame_0179.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the white and blue tube upright; Put the toothpaste upright; Pick up the tube from the countertop and make it sit upright.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Place the white and blue tube upright; Put the toothpaste upright; Pick up the tube from the countertop and make it sit upright., execute the following phases: 1) Initial approach phase (start at [0.846, 0.283]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.839, 0.286]). The trajectory involves 180 precise waypoints with total movement distance of 0.171." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1274", "trajectory_length": 180, "key_frame_indices": [ 0, 98, 179 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1274.json" } }, { "id": "droid_cotrack_episode_6587", "task": "Pull the box out of the bottom of the cabinet; Pull out the black storage bin; Pull the bottom drawer of the cabinet", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6587/frame_0000.jpg", "droid-cotrack/images/episode_6587/frame_0118.jpg", "droid-cotrack/images/episode_6587/frame_0170.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pull the box out of the bottom of the cabinet; Pull out the black storage bin; Pull the bottom drawer of the cabinet?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Pull the box out of the bottom of the cabinet; Pull out the black storage bin; Pull the bottom drawer of the cabinet, execute the following phases: 1) Initial approach phase (start at [0.514, 0.550]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.594, 0.560]). The trajectory involves 171 precise waypoints with total movement distance of 0.182." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6587", "trajectory_length": 171, "key_frame_indices": [ 0, 118, 170 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6587.json" } }, { "id": "droid_cotrack_episode_4440", "task": "Put the blue sachet in the box; Place the blue sachet inside the blue box.; Get the packet and put it in the box", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4440/frame_0000.jpg", "droid-cotrack/images/episode_4440/frame_0177.jpg", "droid-cotrack/images/episode_4440/frame_0250.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the blue sachet in the box; Place the blue sachet inside the blue box.; Get the packet and put it in the box?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the blue sachet in the box; Place the blue sachet inside the blue box.; Get the packet and put it in the box, execute the following phases: 1) Initial approach phase (start at [0.168, 0.833]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.453, 0.388]). The trajectory involves 251 precise waypoints with total movement distance of 1.278." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4440", "trajectory_length": 251, "key_frame_indices": [ 0, 177, 250 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4440.json" } }, { "id": "droid_cotrack_episode_10161", "task": "Put the yellow block in the blue cup; Put the yellow block in the cup; Place the yellow block inside the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10161/frame_0000.jpg", "droid-cotrack/images/episode_10161/frame_0051.jpg", "droid-cotrack/images/episode_10161/frame_0079.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the yellow block in the blue cup; Put the yellow block in the cup; Place the yellow block inside the cup?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the yellow block in the blue cup; Put the yellow block in the cup; Place the yellow block inside the cup, execute the following phases: 1) Initial approach phase (start at [0.553, 0.637]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.639, 0.464]). The trajectory involves 80 precise waypoints with total movement distance of 0.379." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10161", "trajectory_length": 80, "key_frame_indices": [ 0, 51, 79 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10161.json" } }, { "id": "droid_cotrack_episode_10210", "task": "Turn on the fourth switch on the extension cable; Turn off the middle switch on the adapter; Turn on the switch of the third slot from the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10210/frame_0000.jpg", "droid-cotrack/images/episode_10210/frame_0153.jpg", "droid-cotrack/images/episode_10210/frame_0160.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn on the fourth switch on the extension cable; Turn off the middle switch on the adapter; Turn on the switch of the third slot from the right?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Turn on the fourth switch on the extension cable; Turn off the middle switch on the adapter; Turn on the switch of the third slot from the right, execute the following phases: 1) Initial approach phase (start at [0.464, 0.419]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.468, 0.412]). The trajectory involves 161 precise waypoints with total movement distance of 0.067." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10210", "trajectory_length": 161, "key_frame_indices": [ 0, 153, 160 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10210.json" } }, { "id": "droid_cotrack_episode_6249", "task": "Hang the white towel on the black bar; Hang the cloth on the stand; Pick the cloth on the table and put it on the stand", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6249/frame_0000.jpg", "droid-cotrack/images/episode_6249/frame_0113.jpg", "droid-cotrack/images/episode_6249/frame_0179.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Hang the white towel on the black bar; Hang the cloth on the stand; Pick the cloth on the table and put it on the stand?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Hang the white towel on the black bar; Hang the cloth on the stand; Pick the cloth on the table and put it on the stand, execute the following phases: 1) Initial approach phase (start at [0.564, 0.211]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.411, 0.119]). The trajectory involves 180 precise waypoints with total movement distance of 0.396." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6249", "trajectory_length": 180, "key_frame_indices": [ 0, 113, 179 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6249.json" } }, { "id": "droid_cotrack_episode_1386", "task": "Move the can on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1386/frame_0000.jpg", "droid-cotrack/images/episode_1386/frame_0116.jpg", "droid-cotrack/images/episode_1386/frame_0190.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the can on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Move the can on the table, execute the following phases: 1) Initial approach phase (start at [0.467, 0.786]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.342, 0.764]). The trajectory involves 191 precise waypoints with total movement distance of 0.325." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1386", "trajectory_length": 191, "key_frame_indices": [ 0, 116, 190 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1386.json" } }, { "id": "droid_cotrack_episode_10271", "task": "Move the bell pepper; Move the red pepper backwards; Move the pepper backwards slightly", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10271/frame_0000.jpg", "droid-cotrack/images/episode_10271/frame_0077.jpg", "droid-cotrack/images/episode_10271/frame_0127.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bell pepper; Move the red pepper backwards; Move the pepper backwards slightly?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bell pepper; Move the red pepper backwards; Move the pepper backwards slightly, execute the following phases: 1) Initial approach phase (start at [0.546, 0.440]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.593, 0.401]). The trajectory involves 128 precise waypoints with total movement distance of 0.355." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10271", "trajectory_length": 128, "key_frame_indices": [ 0, 77, 127 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10271.json" } }, { "id": "droid_cotrack_episode_406", "task": "Take the pen from the white cup and put it on the table; Remove the black pen from the white mug on the left; Remove the pen from the mug cup and place it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_406/frame_0000.jpg", "droid-cotrack/images/episode_406/frame_0305.jpg", "droid-cotrack/images/episode_406/frame_0339.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the pen from the white cup and put it on the table; Remove the black pen from the white mug on the left; Remove the pen from the mug cup and place it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Take the pen from the white cup and put it on the table; Remove the black pen from the white mug on the left; Remove the pen from the mug cup and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.528, 0.626]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.557, 0.749]). The trajectory involves 340 precise waypoints with total movement distance of 0.600." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_406", "trajectory_length": 340, "key_frame_indices": [ 0, 305, 339 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_406.json" } }, { "id": "droid_cotrack_episode_122", "task": "Move the gray doll to the left; Move the grey towel to the left.; Move the grey pot to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_122/frame_0000.jpg", "droid-cotrack/images/episode_122/frame_0058.jpg", "droid-cotrack/images/episode_122/frame_0112.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the gray doll to the left; Move the grey towel to the left.; Move the grey pot to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the gray doll to the left; Move the grey towel to the left.; Move the grey pot to the left, execute the following phases: 1) Initial approach phase (start at [0.868, 0.758]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.690, 0.673]). The trajectory involves 113 precise waypoints with total movement distance of 0.703." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_122", "trajectory_length": 113, "key_frame_indices": [ 0, 58, 112 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_122.json" } }, { "id": "droid_cotrack_episode_4134", "task": "Pick up the blue spoon and scoop some of the contents in the pot and pour them in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4134/frame_0000.jpg", "droid-cotrack/images/episode_4134/frame_0308.jpg", "droid-cotrack/images/episode_4134/frame_0583.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the blue spoon and scoop some of the contents in the pot and pour them in the bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Pick up the blue spoon and scoop some of the contents in the pot and pour them in the bowl, execute the following phases: 1) Initial approach phase (start at [0.526, 0.502]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.416, 0.526]). The trajectory involves 584 precise waypoints with total movement distance of 1.588." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4134", "trajectory_length": 584, "key_frame_indices": [ 0, 308, 583 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4134.json" } }, { "id": "droid_cotrack_episode_89", "task": "Put the marker in the mug; Pick up the marker from the table and put it in the cup; Put the marker inside the mug", "selected_step": 1, "image": [ "droid-cotrack/images/episode_89/frame_0000.jpg", "droid-cotrack/images/episode_89/frame_0018.jpg", "droid-cotrack/images/episode_89/frame_0140.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the mug; Pick up the marker from the table and put it in the cup; Put the marker inside the mug?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the marker in the mug; Pick up the marker from the table and put it in the cup; Put the marker inside the mug, execute the following phases: 1) Initial approach phase (start at [0.556, 0.707]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.537, 0.568]). The trajectory involves 141 precise waypoints with total movement distance of 0.363." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_89", "trajectory_length": 141, "key_frame_indices": [ 0, 18, 140 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_89.json" } }, { "id": "droid_cotrack_episode_119", "task": "Move the bottle to the left; Move the bottle away from you; Move the container to the back left side of the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_119/frame_0000.jpg", "droid-cotrack/images/episode_119/frame_0096.jpg", "droid-cotrack/images/episode_119/frame_0125.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bottle to the left; Move the bottle away from you; Move the container to the back left side of the table?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bottle to the left; Move the bottle away from you; Move the container to the back left side of the table, execute the following phases: 1) Initial approach phase (start at [0.600, 0.442]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.271, 0.257]). The trajectory involves 126 precise waypoints with total movement distance of 0.568." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_119", "trajectory_length": 126, "key_frame_indices": [ 0, 96, 125 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_119.json" } }, { "id": "droid_cotrack_episode_4429", "task": "Hang the white and blue towel on the stand, remove the towel from the stand, hang the towel back on the stand; Pick up the tower from the table, hang it on the object, remove it from the object put it back on the table, pick it up again from the table and hang it on the object; Hang the cloth on the stand and put it back on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4429/frame_0000.jpg", "droid-cotrack/images/episode_4429/frame_0131.jpg", "droid-cotrack/images/episode_4429/frame_0596.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Hang the white and blue towel on the stand, remove the towel from the stand, hang the towel back on the stand; Pick up the tower from the table, hang it on the object, remove it from the object put it back on the table, pick it up again from the table and hang it on the object; Hang the cloth on the stand and put it back on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Hang the white and blue towel on the stand, remove the towel from the stand, hang the towel back on the stand; Pick up the tower from the table, hang it on the object, remove it from the object put it back on the table, pick it up again from the table and hang it on the object; Hang the cloth on the stand and put it back on the table, execute the following phases: 1) Initial approach phase (start at [0.500, 0.461]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.498, 0.272]). The trajectory involves 597 precise waypoints with total movement distance of 2.825." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4429", "trajectory_length": 597, "key_frame_indices": [ 0, 131, 596 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4429.json" } }, { "id": "droid_cotrack_episode_1730", "task": "Pour the sugar out of the cup into the white pot; Pour the contents of the transparent jug into the pot; Empty the cup into the pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1730/frame_0000.jpg", "droid-cotrack/images/episode_1730/frame_0551.jpg", "droid-cotrack/images/episode_1730/frame_0631.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour the sugar out of the cup into the white pot; Pour the contents of the transparent jug into the pot; Empty the cup into the pot?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Pour the sugar out of the cup into the white pot; Pour the contents of the transparent jug into the pot; Empty the cup into the pot, execute the following phases: 1) Initial approach phase (start at [0.629, 0.817]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.628, 0.819]). The trajectory involves 632 precise waypoints with total movement distance of 0.349." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1730", "trajectory_length": 632, "key_frame_indices": [ 0, 551, 631 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1730.json" } }, { "id": "droid_cotrack_episode_4306", "task": "Take the lid off the blue pot; Put the lid of the blue pot on the table; Uncover the blue pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4306/frame_0000.jpg", "droid-cotrack/images/episode_4306/frame_0229.jpg", "droid-cotrack/images/episode_4306/frame_0256.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the lid off the blue pot; Put the lid of the blue pot on the table; Uncover the blue pot?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Take the lid off the blue pot; Put the lid of the blue pot on the table; Uncover the blue pot, execute the following phases: 1) Initial approach phase (start at [0.425, 0.692]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.444, 0.743]). The trajectory involves 257 precise waypoints with total movement distance of 0.996." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4306", "trajectory_length": 257, "key_frame_indices": [ 0, 229, 256 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4306.json" } }, { "id": "droid_cotrack_episode_1407", "task": "Pour the contents in the box into the pot; Put some cereals in the pot from the box; Pour the contents in the box into the pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1407/frame_0000.jpg", "droid-cotrack/images/episode_1407/frame_0143.jpg", "droid-cotrack/images/episode_1407/frame_0353.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour the contents in the box into the pot; Put some cereals in the pot from the box; Pour the contents in the box into the pot?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Pour the contents in the box into the pot; Put some cereals in the pot from the box; Pour the contents in the box into the pot, execute the following phases: 1) Initial approach phase (start at [0.757, 0.478]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.743, 0.432]). The trajectory involves 354 precise waypoints with total movement distance of 1.239." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1407", "trajectory_length": 354, "key_frame_indices": [ 0, 143, 353 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1407.json" } }, { "id": "droid_cotrack_episode_1917", "task": "Transfer the silver pot from the scale to the green plate; Put the silver pot on the green plate; Remove the silver pot from the scale and put it on top of the green plate", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1917/frame_0000.jpg", "droid-cotrack/images/episode_1917/frame_0108.jpg", "droid-cotrack/images/episode_1917/frame_0198.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Transfer the silver pot from the scale to the green plate; Put the silver pot on the green plate; Remove the silver pot from the scale and put it on top of the green plate?" }, { "from": "gpt", "value": "To complete this repositioning: Transfer the silver pot from the scale to the green plate; Put the silver pot on the green plate; Remove the silver pot from the scale and put it on top of the green plate, execute the following phases: 1) Initial approach phase (start at [0.723, 0.494]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.564, 0.437]). The trajectory involves 199 precise waypoints with total movement distance of 0.354." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1917", "trajectory_length": 199, "key_frame_indices": [ 0, 108, 198 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1917.json" } }, { "id": "droid_cotrack_episode_1619", "task": "Remove the plush toy from the white bowl and place it on the table; Remove the purple object from the bowl and put it on the table; Put the purple plushy on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1619/frame_0000.jpg", "droid-cotrack/images/episode_1619/frame_0081.jpg", "droid-cotrack/images/episode_1619/frame_0173.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the plush toy from the white bowl and place it on the table; Remove the purple object from the bowl and put it on the table; Put the purple plushy on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the plush toy from the white bowl and place it on the table; Remove the purple object from the bowl and put it on the table; Put the purple plushy on the table, execute the following phases: 1) Initial approach phase (start at [0.517, 0.468]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.580, 0.570]). The trajectory involves 174 precise waypoints with total movement distance of 0.588." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1619", "trajectory_length": 174, "key_frame_indices": [ 0, 81, 173 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1619.json" } }, { "id": "droid_cotrack_episode_1701", "task": "Take the pen out of the mug and put it on the table; Remove the marker from the mug cup and place it on the table; Pick up the pen from the cup and place it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1701/frame_0000.jpg", "droid-cotrack/images/episode_1701/frame_0099.jpg", "droid-cotrack/images/episode_1701/frame_0115.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the pen out of the mug and put it on the table; Remove the marker from the mug cup and place it on the table; Pick up the pen from the cup and place it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Take the pen out of the mug and put it on the table; Remove the marker from the mug cup and place it on the table; Pick up the pen from the cup and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.369, 0.409]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.406, 0.553]). The trajectory involves 116 precise waypoints with total movement distance of 0.683." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1701", "trajectory_length": 116, "key_frame_indices": [ 0, 99, 115 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1701.json" } }, { "id": "droid_cotrack_episode_1638", "task": "Pick up the toy from the plate and put it on the countertop.; Remove the white toy from the plate and put it on the table; Remove the teddy from the plate", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1638/frame_0000.jpg", "droid-cotrack/images/episode_1638/frame_0089.jpg", "droid-cotrack/images/episode_1638/frame_0099.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the toy from the plate and put it on the countertop.; Remove the white toy from the plate and put it on the table; Remove the teddy from the plate?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the toy from the plate and put it on the countertop.; Remove the white toy from the plate and put it on the table; Remove the teddy from the plate, execute the following phases: 1) Initial approach phase (start at [0.422, 0.532]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.388, 0.500]). The trajectory involves 100 precise waypoints with total movement distance of 0.088." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1638", "trajectory_length": 100, "key_frame_indices": [ 0, 89, 99 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1638.json" } }, { "id": "droid_cotrack_episode_6149", "task": "Move the cap to the left; Remove the cap from near the white clothes and put it closer to the other cap; Put the cap next to the stack of clothes", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6149/frame_0000.jpg", "droid-cotrack/images/episode_6149/frame_0145.jpg", "droid-cotrack/images/episode_6149/frame_0258.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cap to the left; Remove the cap from near the white clothes and put it closer to the other cap; Put the cap next to the stack of clothes?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cap to the left; Remove the cap from near the white clothes and put it closer to the other cap; Put the cap next to the stack of clothes, execute the following phases: 1) Initial approach phase (start at [0.459, 0.547]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.384, 0.572]). The trajectory involves 259 precise waypoints with total movement distance of 0.551." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6149", "trajectory_length": 259, "key_frame_indices": [ 0, 145, 258 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6149.json" } }, { "id": "droid_cotrack_episode_1660", "task": "Put the marker in the pot on the table; Take the marker out of the pot and put it on the desk; Take the marker out of the silver pot and place it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1660/frame_0000.jpg", "droid-cotrack/images/episode_1660/frame_0222.jpg", "droid-cotrack/images/episode_1660/frame_0259.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the pot on the table; Take the marker out of the pot and put it on the desk; Take the marker out of the silver pot and place it on the table?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the marker in the pot on the table; Take the marker out of the pot and put it on the desk; Take the marker out of the silver pot and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.643, 0.537]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.642, 0.543]). The trajectory involves 260 precise waypoints with total movement distance of 0.120." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1660", "trajectory_length": 260, "key_frame_indices": [ 0, 222, 259 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1660.json" } }, { "id": "droid_cotrack_episode_4172", "task": "Push the third rod to the right; Push the third rod to the right; Push the handle inwards", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4172/frame_0000.jpg", "droid-cotrack/images/episode_4172/frame_0095.jpg", "droid-cotrack/images/episode_4172/frame_0125.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the third rod to the right; Push the third rod to the right; Push the handle inwards?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push the third rod to the right; Push the third rod to the right; Push the handle inwards, execute the following phases: 1) Initial approach phase (start at [0.559, 0.602]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.658, 0.611]). The trajectory involves 126 precise waypoints with total movement distance of 0.185." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4172", "trajectory_length": 126, "key_frame_indices": [ 0, 95, 125 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4172.json" } }, { "id": "droid_cotrack_episode_1368", "task": "Remove the stacked cups from the dishwasher and put them on the countertop; Put the cups in the dishwasher on the table; Take the cups out of the dishwasher and put them on the counter", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1368/frame_0000.jpg", "droid-cotrack/images/episode_1368/frame_0295.jpg", "droid-cotrack/images/episode_1368/frame_0354.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the stacked cups from the dishwasher and put them on the countertop; Put the cups in the dishwasher on the table; Take the cups out of the dishwasher and put them on the counter?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the stacked cups from the dishwasher and put them on the countertop; Put the cups in the dishwasher on the table; Take the cups out of the dishwasher and put them on the counter, execute the following phases: 1) Initial approach phase (start at [0.465, 0.796]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.333, 0.476]). The trajectory involves 355 precise waypoints with total movement distance of 0.937." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1368", "trajectory_length": 355, "key_frame_indices": [ 0, 295, 354 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1368.json" } }, { "id": "droid_cotrack_episode_563", "task": "Move the faucet spout to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_563/frame_0000.jpg", "droid-cotrack/images/episode_563/frame_0145.jpg", "droid-cotrack/images/episode_563/frame_0193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the faucet spout to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the faucet spout to the left, execute the following phases: 1) Initial approach phase (start at [0.794, 0.614]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.745, 0.523]). The trajectory involves 194 precise waypoints with total movement distance of 0.198." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_563", "trajectory_length": 194, "key_frame_indices": [ 0, 145, 193 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_563.json" } }, { "id": "droid_cotrack_episode_1256", "task": "Put the lid on the spray bottle; Place the lid on the spray can; Place the lid on the white spray can", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1256/frame_0000.jpg", "droid-cotrack/images/episode_1256/frame_0104.jpg", "droid-cotrack/images/episode_1256/frame_0176.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the lid on the spray bottle; Place the lid on the spray can; Place the lid on the white spray can?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the lid on the spray bottle; Place the lid on the spray can; Place the lid on the white spray can, execute the following phases: 1) Initial approach phase (start at [0.508, 0.583]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.537, 0.292]). The trajectory involves 177 precise waypoints with total movement distance of 0.568." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1256", "trajectory_length": 177, "key_frame_indices": [ 0, 104, 176 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1256.json" } }, { "id": "droid_cotrack_episode_6502", "task": "Move the bottle backwards; Move the bottle to the back of the table; Move the glass jar to the left.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6502/frame_0000.jpg", "droid-cotrack/images/episode_6502/frame_0072.jpg", "droid-cotrack/images/episode_6502/frame_0124.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bottle backwards; Move the bottle to the back of the table; Move the glass jar to the left.?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bottle backwards; Move the bottle to the back of the table; Move the glass jar to the left., execute the following phases: 1) Initial approach phase (start at [0.750, 0.347]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.556, 0.216]). The trajectory involves 125 precise waypoints with total movement distance of 0.466." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6502", "trajectory_length": 125, "key_frame_indices": [ 0, 72, 124 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6502.json" } }, { "id": "droid_cotrack_episode_925", "task": "Slide the green towel to the right; Move the green cloth to the right; Slide the towel to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_925/frame_0000.jpg", "droid-cotrack/images/episode_925/frame_0071.jpg", "droid-cotrack/images/episode_925/frame_0102.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the green towel to the right; Move the green cloth to the right; Slide the towel to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the green towel to the right; Move the green cloth to the right; Slide the towel to the right, execute the following phases: 1) Initial approach phase (start at [0.482, 0.575]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.577, 0.645]). The trajectory involves 103 precise waypoints with total movement distance of 0.170." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_925", "trajectory_length": 103, "key_frame_indices": [ 0, 71, 102 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_925.json" } }, { "id": "droid_cotrack_episode_10243", "task": "Remove one small white cup from the holder and place it on top of the rack", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10243/frame_0000.jpg", "droid-cotrack/images/episode_10243/frame_0150.jpg", "droid-cotrack/images/episode_10243/frame_0387.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove one small white cup from the holder and place it on top of the rack?" }, { "from": "gpt", "value": "To complete this repositioning: Remove one small white cup from the holder and place it on top of the rack, execute the following phases: 1) Initial approach phase (start at [0.285, 0.452]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.294, 0.421]). The trajectory involves 388 precise waypoints with total movement distance of 0.330." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10243", "trajectory_length": 388, "key_frame_indices": [ 0, 150, 387 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10243.json" } }, { "id": "droid_cotrack_episode_6816", "task": "Take the fruit toys from the table and put them in the two black bowls on the table; Place the fruits and vegetables in the two black bowls; Place the plastic fruits and vegetables in the two black bowls", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6816/frame_0000.jpg", "droid-cotrack/images/episode_6816/frame_0769.jpg", "droid-cotrack/images/episode_6816/frame_0948.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the fruit toys from the table and put them in the two black bowls on the table; Place the fruits and vegetables in the two black bowls; Place the plastic fruits and vegetables in the two black bowls?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Take the fruit toys from the table and put them in the two black bowls on the table; Place the fruits and vegetables in the two black bowls; Place the plastic fruits and vegetables in the two black bowls, execute the following phases: 1) Initial approach phase (start at [0.603, 0.104]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.594, 0.102]). The trajectory involves 949 precise waypoints with total movement distance of 0.691." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6816", "trajectory_length": 949, "key_frame_indices": [ 0, 769, 948 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6816.json" } }, { "id": "droid_cotrack_episode_695", "task": "Place the black masking tape on the white plate; Put the masking tape in the plate; Pick up the black tape and place it in the plate.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_695/frame_0000.jpg", "droid-cotrack/images/episode_695/frame_0070.jpg", "droid-cotrack/images/episode_695/frame_0104.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the black masking tape on the white plate; Put the masking tape in the plate; Pick up the black tape and place it in the plate.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Place the black masking tape on the white plate; Put the masking tape in the plate; Pick up the black tape and place it in the plate., execute the following phases: 1) Initial approach phase (start at [0.439, 0.427]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.335, 0.386]). The trajectory involves 105 precise waypoints with total movement distance of 0.329." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_695", "trajectory_length": 105, "key_frame_indices": [ 0, 70, 104 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_695.json" } }, { "id": "droid_cotrack_episode_1241", "task": "Remove the marker from the mug and put it on the table; Remove the marker from the mug; Take the green marker out of the white and green mug", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1241/frame_0000.jpg", "droid-cotrack/images/episode_1241/frame_0092.jpg", "droid-cotrack/images/episode_1241/frame_0127.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker from the mug and put it on the table; Remove the marker from the mug; Take the green marker out of the white and green mug?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the marker from the mug and put it on the table; Remove the marker from the mug; Take the green marker out of the white and green mug, execute the following phases: 1) Initial approach phase (start at [0.649, 0.483]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.495, 0.644]). The trajectory involves 128 precise waypoints with total movement distance of 0.810." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1241", "trajectory_length": 128, "key_frame_indices": [ 0, 92, 127 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1241.json" } }, { "id": "droid_cotrack_episode_4027", "task": "Turn the tap nozzle to the right; Slide the faucet to the right; Turn the tap nozzle from the left to the middle", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4027/frame_0000.jpg", "droid-cotrack/images/episode_4027/frame_0081.jpg", "droid-cotrack/images/episode_4027/frame_0147.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn the tap nozzle to the right; Slide the faucet to the right; Turn the tap nozzle from the left to the middle?" }, { "from": "gpt", "value": "To complete this repositioning: Turn the tap nozzle to the right; Slide the faucet to the right; Turn the tap nozzle from the left to the middle, execute the following phases: 1) Initial approach phase (start at [0.505, 0.665]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.507, 0.665]). The trajectory involves 148 precise waypoints with total movement distance of 0.043." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4027", "trajectory_length": 148, "key_frame_indices": [ 0, 81, 147 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4027.json" } }, { "id": "droid_cotrack_episode_10239", "task": "Unstack the cups", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10239/frame_0000.jpg", "droid-cotrack/images/episode_10239/frame_0225.jpg", "droid-cotrack/images/episode_10239/frame_0255.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unstack the cups?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Unstack the cups, execute the following phases: 1) Initial approach phase (start at [0.466, 0.640]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.535, 0.688]). The trajectory involves 256 precise waypoints with total movement distance of 0.595." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10239", "trajectory_length": 256, "key_frame_indices": [ 0, 225, 255 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10239.json" } }, { "id": "droid_cotrack_episode_934", "task": "Slide the blue towel to the left; Slide the blue towel to the left; Slide the blue towel to the left side of the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_934/frame_0000.jpg", "droid-cotrack/images/episode_934/frame_0077.jpg", "droid-cotrack/images/episode_934/frame_0152.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the blue towel to the left; Slide the blue towel to the left; Slide the blue towel to the left side of the table?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the blue towel to the left; Slide the blue towel to the left; Slide the blue towel to the left side of the table, execute the following phases: 1) Initial approach phase (start at [0.723, 0.722]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.647, 0.515]). The trajectory involves 153 precise waypoints with total movement distance of 0.271." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_934", "trajectory_length": 153, "key_frame_indices": [ 0, 77, 152 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_934.json" } }, { "id": "droid_cotrack_episode_894", "task": "Pour the contents from the orange cup into the white bowl; Pick up the orange cup and pour its contents in the bowl.; Pour the things in the cup into the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_894/frame_0000.jpg", "droid-cotrack/images/episode_894/frame_0078.jpg", "droid-cotrack/images/episode_894/frame_0138.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour the contents from the orange cup into the white bowl; Pick up the orange cup and pour its contents in the bowl.; Pour the things in the cup into the bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Pour the contents from the orange cup into the white bowl; Pick up the orange cup and pour its contents in the bowl.; Pour the things in the cup into the bowl, execute the following phases: 1) Initial approach phase (start at [0.453, 0.646]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.529, 0.559]). The trajectory involves 139 precise waypoints with total movement distance of 0.230." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_894", "trajectory_length": 139, "key_frame_indices": [ 0, 78, 138 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_894.json" } }, { "id": "droid_cotrack_episode_4518", "task": "Move the carrot toy to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4518/frame_0000.jpg", "droid-cotrack/images/episode_4518/frame_0089.jpg", "droid-cotrack/images/episode_4518/frame_0118.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the carrot toy to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the carrot toy to the right, execute the following phases: 1) Initial approach phase (start at [0.228, 0.681]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.387, 0.740]). The trajectory involves 119 precise waypoints with total movement distance of 0.409." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4518", "trajectory_length": 119, "key_frame_indices": [ 0, 89, 118 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4518.json" } }, { "id": "droid_cotrack_episode_2068", "task": "Take the marker out of the mug and put it on the counter.; Remove the marker from the cup and put it on the table; Remove the marker from the mug and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2068/frame_0000.jpg", "droid-cotrack/images/episode_2068/frame_0170.jpg", "droid-cotrack/images/episode_2068/frame_0250.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the marker out of the mug and put it on the counter.; Remove the marker from the cup and put it on the table; Remove the marker from the mug and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Take the marker out of the mug and put it on the counter.; Remove the marker from the cup and put it on the table; Remove the marker from the mug and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.864, 0.714]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.860, 0.704]). The trajectory involves 251 precise waypoints with total movement distance of 0.269." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2068", "trajectory_length": 251, "key_frame_indices": [ 0, 170, 250 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2068.json" } }, { "id": "droid_cotrack_episode_6035", "task": "Close the open upper cabinet door; Close the cabinet; Close the right cabinet door", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6035/frame_0000.jpg", "droid-cotrack/images/episode_6035/frame_0156.jpg", "droid-cotrack/images/episode_6035/frame_0213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the open upper cabinet door; Close the cabinet; Close the right cabinet door?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the open upper cabinet door; Close the cabinet; Close the right cabinet door, execute the following phases: 1) Initial approach phase (start at [0.713, 0.349]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.575, 0.277]). The trajectory involves 214 precise waypoints with total movement distance of 0.718." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6035", "trajectory_length": 214, "key_frame_indices": [ 0, 156, 213 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6035.json" } }, { "id": "droid_cotrack_episode_1205", "task": "Move the mug to the left; Move the mug slightly to the left; Move the white mug to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1205/frame_0000.jpg", "droid-cotrack/images/episode_1205/frame_0107.jpg", "droid-cotrack/images/episode_1205/frame_0182.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug to the left; Move the mug slightly to the left; Move the white mug to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug to the left; Move the mug slightly to the left; Move the white mug to the left, execute the following phases: 1) Initial approach phase (start at [0.704, 0.526]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.718, 0.426]). The trajectory involves 183 precise waypoints with total movement distance of 0.252." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1205", "trajectory_length": 183, "key_frame_indices": [ 0, 107, 182 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1205.json" } }, { "id": "droid_cotrack_episode_1534", "task": "Wipe the pan with the dish cloth", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1534/frame_0000.jpg", "droid-cotrack/images/episode_1534/frame_0222.jpg", "droid-cotrack/images/episode_1534/frame_0224.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Wipe the pan with the dish cloth?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Wipe the pan with the dish cloth, execute the following phases: 1) Initial approach phase (start at [0.392, 0.377]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.394, 0.376]). The trajectory involves 225 precise waypoints with total movement distance of 0.134." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1534", "trajectory_length": 225, "key_frame_indices": [ 0, 222, 224 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1534.json" } }, { "id": "droid_cotrack_episode_801", "task": "Remove the blue block from the green block and put it on the table; Put the blue block on the table; Pick up the blue object from the green object and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_801/frame_0000.jpg", "droid-cotrack/images/episode_801/frame_0099.jpg", "droid-cotrack/images/episode_801/frame_0141.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the blue block from the green block and put it on the table; Put the blue block on the table; Pick up the blue object from the green object and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Remove the blue block from the green block and put it on the table; Put the blue block on the table; Pick up the blue object from the green object and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.468, 0.449]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.468, 0.462]). The trajectory involves 142 precise waypoints with total movement distance of 0.055." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_801", "trajectory_length": 142, "key_frame_indices": [ 0, 99, 141 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_801.json" } }, { "id": "droid_cotrack_episode_4484", "task": "Put the blue marker in the yellow mug; Put the marker inside the mug; Put the marker on the table in the mug", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4484/frame_0000.jpg", "droid-cotrack/images/episode_4484/frame_0124.jpg", "droid-cotrack/images/episode_4484/frame_0133.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the blue marker in the yellow mug; Put the marker inside the mug; Put the marker on the table in the mug?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the blue marker in the yellow mug; Put the marker inside the mug; Put the marker on the table in the mug, execute the following phases: 1) Initial approach phase (start at [0.573, 0.473]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.510, 0.372]). The trajectory involves 134 precise waypoints with total movement distance of 0.604." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4484", "trajectory_length": 134, "key_frame_indices": [ 0, 124, 133 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4484.json" } }, { "id": "droid_cotrack_episode_1038", "task": "Use the green brush to sweep the top of the machine on the left.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1038/frame_0000.jpg", "droid-cotrack/images/episode_1038/frame_0081.jpg", "droid-cotrack/images/episode_1038/frame_0454.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the green brush to sweep the top of the machine on the left.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Use the green brush to sweep the top of the machine on the left., execute the following phases: 1) Initial approach phase (start at [0.449, 0.534]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.451, 0.502]). The trajectory involves 455 precise waypoints with total movement distance of 0.448." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1038", "trajectory_length": 455, "key_frame_indices": [ 0, 81, 454 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1038.json" } }, { "id": "droid_cotrack_episode_6129", "task": "Move the radish toy from the grey object on the right to the one on the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6129/frame_0000.jpg", "droid-cotrack/images/episode_6129/frame_0124.jpg", "droid-cotrack/images/episode_6129/frame_0308.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the radish toy from the grey object on the right to the one on the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the radish toy from the grey object on the right to the one on the left, execute the following phases: 1) Initial approach phase (start at [0.622, 0.454]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.619, 0.454]). The trajectory involves 309 precise waypoints with total movement distance of 0.116." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6129", "trajectory_length": 309, "key_frame_indices": [ 0, 124, 308 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6129.json" } }, { "id": "droid_cotrack_episode_1159", "task": "Pull out a tissue from the box and put it on the table; Remove the tissue from the box; Pick up the tissue paper from the box and put it on the table.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1159/frame_0000.jpg", "droid-cotrack/images/episode_1159/frame_0020.jpg", "droid-cotrack/images/episode_1159/frame_0124.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pull out a tissue from the box and put it on the table; Remove the tissue from the box; Pick up the tissue paper from the box and put it on the table.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pull out a tissue from the box and put it on the table; Remove the tissue from the box; Pick up the tissue paper from the box and put it on the table., execute the following phases: 1) Initial approach phase (start at [0.622, 0.750]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.629, 0.755]). The trajectory involves 125 precise waypoints with total movement distance of 0.048." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1159", "trajectory_length": 125, "key_frame_indices": [ 0, 20, 124 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1159.json" } }, { "id": "droid_cotrack_episode_6818", "task": "Pick the orange floral shirt and hang it between the white and the black shirts.; Remove the beach shirt and put it slightly to the left; Take the orange shirt on the hanger and place it to the left of the rail", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6818/frame_0000.jpg", "droid-cotrack/images/episode_6818/frame_0011.jpg", "droid-cotrack/images/episode_6818/frame_0173.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the orange floral shirt and hang it between the white and the black shirts.; Remove the beach shirt and put it slightly to the left; Take the orange shirt on the hanger and place it to the left of the rail?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the orange floral shirt and hang it between the white and the black shirts.; Remove the beach shirt and put it slightly to the left; Take the orange shirt on the hanger and place it to the left of the rail, execute the following phases: 1) Initial approach phase (start at [0.306, 0.449]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.343, 0.421]). The trajectory involves 174 precise waypoints with total movement distance of 0.233." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6818", "trajectory_length": 174, "key_frame_indices": [ 0, 11, 173 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6818.json" } }, { "id": "droid_cotrack_episode_4212", "task": "Get the marker from the yellow cup and put it on the table; Take the marker out of the mug and place it on the desk; Remove the black marker from the yellow mug and place it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4212/frame_0000.jpg", "droid-cotrack/images/episode_4212/frame_0201.jpg", "droid-cotrack/images/episode_4212/frame_0263.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Get the marker from the yellow cup and put it on the table; Take the marker out of the mug and place it on the desk; Remove the black marker from the yellow mug and place it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Get the marker from the yellow cup and put it on the table; Take the marker out of the mug and place it on the desk; Remove the black marker from the yellow mug and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.556, 0.594]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.620, 0.629]). The trajectory involves 264 precise waypoints with total movement distance of 0.588." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4212", "trajectory_length": 264, "key_frame_indices": [ 0, 201, 263 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4212.json" } }, { "id": "droid_cotrack_episode_6246", "task": "Open the bottom drawer of the file cabinet; Open the drawer; Open the bottom drawer of the right cabinet", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6246/frame_0000.jpg", "droid-cotrack/images/episode_6246/frame_0026.jpg", "droid-cotrack/images/episode_6246/frame_0207.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the bottom drawer of the file cabinet; Open the drawer; Open the bottom drawer of the right cabinet?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the bottom drawer of the file cabinet; Open the drawer; Open the bottom drawer of the right cabinet, execute the following phases: 1) Initial approach phase (start at [0.713, 0.731]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.737, 0.807]). The trajectory involves 208 precise waypoints with total movement distance of 0.322." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6246", "trajectory_length": 208, "key_frame_indices": [ 0, 26, 207 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6246.json" } }, { "id": "droid_cotrack_episode_1961", "task": "Put the marker in the cup; Put the marker in the cup; Put the marker in the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1961/frame_0000.jpg", "droid-cotrack/images/episode_1961/frame_0165.jpg", "droid-cotrack/images/episode_1961/frame_0247.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the cup; Put the marker in the cup; Put the marker in the cup?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the marker in the cup; Put the marker in the cup; Put the marker in the cup, execute the following phases: 1) Initial approach phase (start at [0.619, 0.479]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.552, 0.476]). The trajectory involves 248 precise waypoints with total movement distance of 0.880." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1961", "trajectory_length": 248, "key_frame_indices": [ 0, 165, 247 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1961.json" } }, { "id": "droid_cotrack_episode_1835", "task": "Fold the towel; Fold the tea towel; Fold the towel on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1835/frame_0000.jpg", "droid-cotrack/images/episode_1835/frame_0126.jpg", "droid-cotrack/images/episode_1835/frame_0180.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the towel; Fold the tea towel; Fold the towel on the table?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Fold the towel; Fold the tea towel; Fold the towel on the table, execute the following phases: 1) Initial approach phase (start at [0.859, 0.687]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.668, 0.508]). The trajectory involves 181 precise waypoints with total movement distance of 0.583." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1835", "trajectory_length": 181, "key_frame_indices": [ 0, 126, 180 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1835.json" } }, { "id": "droid_cotrack_episode_178", "task": "Remove the clothing from the left armrest of the black chair and place it on the sofa; Remove the grey clothing from the armrest of the black chair and put it on the sofa; Pick the cloth and put it in the chair", "selected_step": 1, "image": [ "droid-cotrack/images/episode_178/frame_0000.jpg", "droid-cotrack/images/episode_178/frame_0168.jpg", "droid-cotrack/images/episode_178/frame_0173.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the clothing from the left armrest of the black chair and place it on the sofa; Remove the grey clothing from the armrest of the black chair and put it on the sofa; Pick the cloth and put it in the chair?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Remove the clothing from the left armrest of the black chair and place it on the sofa; Remove the grey clothing from the armrest of the black chair and put it on the sofa; Pick the cloth and put it in the chair, execute the following phases: 1) Initial approach phase (start at [0.523, 0.724]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.630, 0.357]). The trajectory involves 174 precise waypoints with total movement distance of 0.934." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_178", "trajectory_length": 174, "key_frame_indices": [ 0, 168, 173 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_178.json" } }, { "id": "droid_cotrack_episode_2166", "task": "Use the spoon to scoop the beans in the takeaway pack and put them in the paper cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2166/frame_0000.jpg", "droid-cotrack/images/episode_2166/frame_0311.jpg", "droid-cotrack/images/episode_2166/frame_0331.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the spoon to scoop the beans in the takeaway pack and put them in the paper cup?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Use the spoon to scoop the beans in the takeaway pack and put them in the paper cup, execute the following phases: 1) Initial approach phase (start at [0.473, 0.712]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.461, 0.707]). The trajectory involves 332 precise waypoints with total movement distance of 0.242." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2166", "trajectory_length": 332, "key_frame_indices": [ 0, 311, 331 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2166.json" } }, { "id": "droid_cotrack_episode_4115", "task": "Place the ketchup bottle on the pan", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4115/frame_0000.jpg", "droid-cotrack/images/episode_4115/frame_0071.jpg", "droid-cotrack/images/episode_4115/frame_0120.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the ketchup bottle on the pan?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Place the ketchup bottle on the pan, execute the following phases: 1) Initial approach phase (start at [0.619, 0.400]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.690, 0.483]). The trajectory involves 121 precise waypoints with total movement distance of 0.501." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4115", "trajectory_length": 121, "key_frame_indices": [ 0, 71, 120 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4115.json" } }, { "id": "droid_cotrack_episode_4387", "task": "Pick up the orange cup and put it in the black bowl; Put the orange cup inside the black bowl; Pick up the orange cup and put it in the black bowl.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4387/frame_0000.jpg", "droid-cotrack/images/episode_4387/frame_0070.jpg", "droid-cotrack/images/episode_4387/frame_0112.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the orange cup and put it in the black bowl; Put the orange cup inside the black bowl; Pick up the orange cup and put it in the black bowl.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the orange cup and put it in the black bowl; Put the orange cup inside the black bowl; Pick up the orange cup and put it in the black bowl., execute the following phases: 1) Initial approach phase (start at [0.415, 0.653]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.472, 0.556]). The trajectory involves 113 precise waypoints with total movement distance of 0.468." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4387", "trajectory_length": 113, "key_frame_indices": [ 0, 70, 112 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4387.json" } }, { "id": "droid_cotrack_episode_1940", "task": "Put the green marker in the bowl; Take the marker from the table and place it in the white bowl; Put the pen in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1940/frame_0000.jpg", "droid-cotrack/images/episode_1940/frame_0171.jpg", "droid-cotrack/images/episode_1940/frame_0193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the green marker in the bowl; Take the marker from the table and place it in the white bowl; Put the pen in the bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the green marker in the bowl; Take the marker from the table and place it in the white bowl; Put the pen in the bowl, execute the following phases: 1) Initial approach phase (start at [0.320, 0.619]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.493, 0.673]). The trajectory involves 194 precise waypoints with total movement distance of 0.441." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1940", "trajectory_length": 194, "key_frame_indices": [ 0, 171, 193 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1940.json" } }, { "id": "droid_cotrack_episode_10176", "task": "Put the marker in the bowl; Get the small black and white object from the table and place it in the white bowl; Put the marker in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10176/frame_0000.jpg", "droid-cotrack/images/episode_10176/frame_0086.jpg", "droid-cotrack/images/episode_10176/frame_0139.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the bowl; Get the small black and white object from the table and place it in the white bowl; Put the marker in the bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the marker in the bowl; Get the small black and white object from the table and place it in the white bowl; Put the marker in the bowl, execute the following phases: 1) Initial approach phase (start at [0.532, 0.451]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.524, 0.439]). The trajectory involves 140 precise waypoints with total movement distance of 0.083." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10176", "trajectory_length": 140, "key_frame_indices": [ 0, 86, 139 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10176.json" } }, { "id": "droid_cotrack_episode_2111", "task": "Stir the cereal in the bowl to the right with the cake knife", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2111/frame_0000.jpg", "droid-cotrack/images/episode_2111/frame_0321.jpg", "droid-cotrack/images/episode_2111/frame_0365.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Stir the cereal in the bowl to the right with the cake knife?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Stir the cereal in the bowl to the right with the cake knife, execute the following phases: 1) Initial approach phase (start at [0.586, 0.438]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.587, 0.437]). The trajectory involves 366 precise waypoints with total movement distance of 0.112." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2111", "trajectory_length": 366, "key_frame_indices": [ 0, 321, 365 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2111.json" } }, { "id": "droid_cotrack_episode_1390", "task": "Take the pen out of the cup and put it on the table; Take the pen out of the cup and put it on the table; Remove the blue marker from the glass cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1390/frame_0000.jpg", "droid-cotrack/images/episode_1390/frame_0219.jpg", "droid-cotrack/images/episode_1390/frame_0235.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the pen out of the cup and put it on the table; Take the pen out of the cup and put it on the table; Remove the blue marker from the glass cup?" }, { "from": "gpt", "value": "To complete this repositioning: Take the pen out of the cup and put it on the table; Take the pen out of the cup and put it on the table; Remove the blue marker from the glass cup, execute the following phases: 1) Initial approach phase (start at [0.752, 0.555]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.835, 0.824]). The trajectory involves 236 precise waypoints with total movement distance of 0.512." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1390", "trajectory_length": 236, "key_frame_indices": [ 0, 219, 235 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1390.json" } }, { "id": "droid_cotrack_episode_1333", "task": "Remove one straw from the cup and put it on the tray.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1333/frame_0000.jpg", "droid-cotrack/images/episode_1333/frame_0163.jpg", "droid-cotrack/images/episode_1333/frame_0260.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove one straw from the cup and put it on the tray.?" }, { "from": "gpt", "value": "To complete this repositioning: Remove one straw from the cup and put it on the tray., execute the following phases: 1) Initial approach phase (start at [0.422, 0.536]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.422, 0.541]). The trajectory involves 261 precise waypoints with total movement distance of 0.134." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1333", "trajectory_length": 261, "key_frame_indices": [ 0, 163, 260 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1333.json" } }, { "id": "droid_cotrack_episode_2205", "task": "Open the bottom drawer of the cabinet on the right; Open the bottom drawer of the left cabinet; Open the bottom drawer of the file cabinet to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2205/frame_0000.jpg", "droid-cotrack/images/episode_2205/frame_0135.jpg", "droid-cotrack/images/episode_2205/frame_0168.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the bottom drawer of the cabinet on the right; Open the bottom drawer of the left cabinet; Open the bottom drawer of the file cabinet to the right?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the bottom drawer of the cabinet on the right; Open the bottom drawer of the left cabinet; Open the bottom drawer of the file cabinet to the right, execute the following phases: 1) Initial approach phase (start at [0.641, 0.745]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.711, 0.839]). The trajectory involves 169 precise waypoints with total movement distance of 0.207." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2205", "trajectory_length": 169, "key_frame_indices": [ 0, 135, 168 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2205.json" } }, { "id": "droid_cotrack_episode_4024", "task": "Pick up the object from the kitchen base table and put it in the cup; Put the glue stick in the mug cup; Pick up the glue and put it in the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4024/frame_0000.jpg", "droid-cotrack/images/episode_4024/frame_0060.jpg", "droid-cotrack/images/episode_4024/frame_0113.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the object from the kitchen base table and put it in the cup; Put the glue stick in the mug cup; Pick up the glue and put it in the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the object from the kitchen base table and put it in the cup; Put the glue stick in the mug cup; Pick up the glue and put it in the cup, execute the following phases: 1) Initial approach phase (start at [0.442, 0.907]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.439, 0.903]). The trajectory involves 114 precise waypoints with total movement distance of 0.074." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4024", "trajectory_length": 114, "key_frame_indices": [ 0, 60, 113 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4024.json" } }, { "id": "droid_cotrack_episode_1216", "task": "Use the blue towel to wipe the plate on the right; Use the towel to wipe the larger plate; Wipe the biggest of the two white plates with the blue cloth", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1216/frame_0000.jpg", "droid-cotrack/images/episode_1216/frame_0349.jpg", "droid-cotrack/images/episode_1216/frame_0366.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the blue towel to wipe the plate on the right; Use the towel to wipe the larger plate; Wipe the biggest of the two white plates with the blue cloth?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Use the blue towel to wipe the plate on the right; Use the towel to wipe the larger plate; Wipe the biggest of the two white plates with the blue cloth, execute the following phases: 1) Initial approach phase (start at [0.460, 0.460]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.479, 0.443]). The trajectory involves 367 precise waypoints with total movement distance of 1.008." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1216", "trajectory_length": 367, "key_frame_indices": [ 0, 349, 366 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1216.json" } }, { "id": "droid_cotrack_episode_10163", "task": "Slide the things on the foosball table to the left; Slide the objects to the left of the table football; Move two beads on the abacus to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10163/frame_0000.jpg", "droid-cotrack/images/episode_10163/frame_0026.jpg", "droid-cotrack/images/episode_10163/frame_0122.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the things on the foosball table to the left; Slide the objects to the left of the table football; Move two beads on the abacus to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the things on the foosball table to the left; Slide the objects to the left of the table football; Move two beads on the abacus to the left, execute the following phases: 1) Initial approach phase (start at [0.538, 0.379]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.538, 0.379]). The trajectory involves 123 precise waypoints with total movement distance of 0.029." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10163", "trajectory_length": 123, "key_frame_indices": [ 0, 26, 122 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10163.json" } }, { "id": "droid_cotrack_episode_4052", "task": "Open the tap; Push the faucet handle up; Push the faucet handle upwards", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4052/frame_0000.jpg", "droid-cotrack/images/episode_4052/frame_0293.jpg", "droid-cotrack/images/episode_4052/frame_0300.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the tap; Push the faucet handle up; Push the faucet handle upwards?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the tap; Push the faucet handle up; Push the faucet handle upwards, execute the following phases: 1) Initial approach phase (start at [0.296, 0.433]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.286, 0.422]). The trajectory involves 301 precise waypoints with total movement distance of 0.101." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4052", "trajectory_length": 301, "key_frame_indices": [ 0, 293, 300 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4052.json" } }, { "id": "droid_cotrack_episode_1995", "task": "Take the bottle on the seal and put it on the drawer; Pick the bottle and put it in the drawer; Move the bottle from the windowsill to the pullout table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1995/frame_0000.jpg", "droid-cotrack/images/episode_1995/frame_0150.jpg", "droid-cotrack/images/episode_1995/frame_0209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the bottle on the seal and put it on the drawer; Pick the bottle and put it in the drawer; Move the bottle from the windowsill to the pullout table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Take the bottle on the seal and put it on the drawer; Pick the bottle and put it in the drawer; Move the bottle from the windowsill to the pullout table, execute the following phases: 1) Initial approach phase (start at [0.739, 0.158]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.534, 0.348]). The trajectory involves 210 precise waypoints with total movement distance of 0.631." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1995", "trajectory_length": 210, "key_frame_indices": [ 0, 150, 209 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1995.json" } }, { "id": "droid_cotrack_episode_1215", "task": "Move the cup to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1215/frame_0000.jpg", "droid-cotrack/images/episode_1215/frame_0061.jpg", "droid-cotrack/images/episode_1215/frame_0204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup to the right, execute the following phases: 1) Initial approach phase (start at [0.350, 0.648]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.348, 0.648]). The trajectory involves 205 precise waypoints with total movement distance of 0.093." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1215", "trajectory_length": 205, "key_frame_indices": [ 0, 61, 204 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1215.json" } }, { "id": "droid_cotrack_episode_4501", "task": "Close the top drawer; Close the open drawer; Close the topmost drawer", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4501/frame_0000.jpg", "droid-cotrack/images/episode_4501/frame_0095.jpg", "droid-cotrack/images/episode_4501/frame_0151.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the top drawer; Close the open drawer; Close the topmost drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the top drawer; Close the open drawer; Close the topmost drawer, execute the following phases: 1) Initial approach phase (start at [0.690, 0.321]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.595, 0.268]). The trajectory involves 152 precise waypoints with total movement distance of 0.196." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4501", "trajectory_length": 152, "key_frame_indices": [ 0, 95, 151 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4501.json" } }, { "id": "droid_cotrack_episode_1097", "task": "Take the green marker out of the white and brown mug; Remove the marker from the cup and put it on the printer machine; Remove the marker from the mug", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1097/frame_0000.jpg", "droid-cotrack/images/episode_1097/frame_0112.jpg", "droid-cotrack/images/episode_1097/frame_0125.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the green marker out of the white and brown mug; Remove the marker from the cup and put it on the printer machine; Remove the marker from the mug?" }, { "from": "gpt", "value": "To complete this repositioning: Take the green marker out of the white and brown mug; Remove the marker from the cup and put it on the printer machine; Remove the marker from the mug, execute the following phases: 1) Initial approach phase (start at [0.515, 0.605]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.516, 0.613]). The trajectory involves 126 precise waypoints with total movement distance of 0.145." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1097", "trajectory_length": 126, "key_frame_indices": [ 0, 112, 125 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1097.json" } }, { "id": "droid_cotrack_episode_1007", "task": "Take the cloth and put it on the table; Take the cloth and put it on the table; Put the cloth on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1007/frame_0000.jpg", "droid-cotrack/images/episode_1007/frame_0126.jpg", "droid-cotrack/images/episode_1007/frame_0139.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the cloth and put it on the table; Take the cloth and put it on the table; Put the cloth on the table?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Take the cloth and put it on the table; Take the cloth and put it on the table; Put the cloth on the table, execute the following phases: 1) Initial approach phase (start at [0.400, 0.247]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.573, 0.486]). The trajectory involves 140 precise waypoints with total movement distance of 0.548." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1007", "trajectory_length": 140, "key_frame_indices": [ 0, 126, 139 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1007.json" } }, { "id": "droid_cotrack_episode_1970", "task": "Move the white cup a little bit to the right; Move the mug to the right; Spin the cup slightly clockwise", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1970/frame_0000.jpg", "droid-cotrack/images/episode_1970/frame_0129.jpg", "droid-cotrack/images/episode_1970/frame_0193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the white cup a little bit to the right; Move the mug to the right; Spin the cup slightly clockwise?" }, { "from": "gpt", "value": "To complete this repositioning: Move the white cup a little bit to the right; Move the mug to the right; Spin the cup slightly clockwise, execute the following phases: 1) Initial approach phase (start at [0.542, 0.446]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.585, 0.429]). The trajectory involves 194 precise waypoints with total movement distance of 0.262." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1970", "trajectory_length": 194, "key_frame_indices": [ 0, 129, 193 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1970.json" } }, { "id": "droid_cotrack_episode_745", "task": "Unstack the green blocks; Pick the green block and put it on the table; Pick up the green object and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_745/frame_0000.jpg", "droid-cotrack/images/episode_745/frame_0103.jpg", "droid-cotrack/images/episode_745/frame_0132.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unstack the green blocks; Pick the green block and put it on the table; Pick up the green object and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Unstack the green blocks; Pick the green block and put it on the table; Pick up the green object and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.455, 0.403]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.370, 0.454]). The trajectory involves 133 precise waypoints with total movement distance of 0.204." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_745", "trajectory_length": 133, "key_frame_indices": [ 0, 103, 132 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_745.json" } }, { "id": "droid_cotrack_episode_1634", "task": "Fold the blue towel; Fold the blue towel; Fold the cloth", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1634/frame_0000.jpg", "droid-cotrack/images/episode_1634/frame_0094.jpg", "droid-cotrack/images/episode_1634/frame_0138.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the blue towel; Fold the blue towel; Fold the cloth?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Fold the blue towel; Fold the blue towel; Fold the cloth, execute the following phases: 1) Initial approach phase (start at [0.498, 0.532]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.534, 0.508]). The trajectory involves 139 precise waypoints with total movement distance of 0.167." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1634", "trajectory_length": 139, "key_frame_indices": [ 0, 94, 138 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1634.json" } }, { "id": "droid_cotrack_episode_595", "task": "Use the green towel to wipe the right side of the table; Wipe the table with the rag; Use the towel to clean the right part of the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_595/frame_0000.jpg", "droid-cotrack/images/episode_595/frame_0294.jpg", "droid-cotrack/images/episode_595/frame_0320.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the green towel to wipe the right side of the table; Wipe the table with the rag; Use the towel to clean the right part of the table?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Use the green towel to wipe the right side of the table; Wipe the table with the rag; Use the towel to clean the right part of the table, execute the following phases: 1) Initial approach phase (start at [0.573, 0.758]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.533, 0.659]). The trajectory involves 321 precise waypoints with total movement distance of 0.914." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_595", "trajectory_length": 321, "key_frame_indices": [ 0, 294, 320 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_595.json" } }, { "id": "droid_cotrack_episode_867", "task": "Open the coffee maker; Open the top compartment of the grey machine.; Open the coffee maker", "selected_step": 1, "image": [ "droid-cotrack/images/episode_867/frame_0000.jpg", "droid-cotrack/images/episode_867/frame_0150.jpg", "droid-cotrack/images/episode_867/frame_0261.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the coffee maker; Open the top compartment of the grey machine.; Open the coffee maker?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the coffee maker; Open the top compartment of the grey machine.; Open the coffee maker, execute the following phases: 1) Initial approach phase (start at [0.546, 0.334]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.507, 0.326]). The trajectory involves 262 precise waypoints with total movement distance of 0.255." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_867", "trajectory_length": 262, "key_frame_indices": [ 0, 150, 261 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_867.json" } }, { "id": "droid_cotrack_episode_1480", "task": "Open the dryer", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1480/frame_0000.jpg", "droid-cotrack/images/episode_1480/frame_0016.jpg", "droid-cotrack/images/episode_1480/frame_0200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the dryer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the dryer, execute the following phases: 1) Initial approach phase (start at [0.638, 0.683]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.644, 0.673]). The trajectory involves 201 precise waypoints with total movement distance of 0.131." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1480", "trajectory_length": 201, "key_frame_indices": [ 0, 16, 200 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1480.json" } }, { "id": "droid_cotrack_episode_10119", "task": "Place the green block inside the black bowl; Put the green block in the bowl; Put the green cube in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10119/frame_0000.jpg", "droid-cotrack/images/episode_10119/frame_0103.jpg", "droid-cotrack/images/episode_10119/frame_0155.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the green block inside the black bowl; Put the green block in the bowl; Put the green cube in the bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Place the green block inside the black bowl; Put the green block in the bowl; Put the green cube in the bowl, execute the following phases: 1) Initial approach phase (start at [0.625, 0.546]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.624, 0.549]). The trajectory involves 156 precise waypoints with total movement distance of 0.082." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10119", "trajectory_length": 156, "key_frame_indices": [ 0, 103, 155 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10119.json" } }, { "id": "droid_cotrack_episode_83", "task": "Take the blue marker out of the yellow mug; Remove the marker from the mug; Remove the marker from the mug and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_83/frame_0000.jpg", "droid-cotrack/images/episode_83/frame_0181.jpg", "droid-cotrack/images/episode_83/frame_0219.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the blue marker out of the yellow mug; Remove the marker from the mug; Remove the marker from the mug and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Take the blue marker out of the yellow mug; Remove the marker from the mug; Remove the marker from the mug and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.746, 0.426]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.583, 0.541]). The trajectory involves 220 precise waypoints with total movement distance of 0.667." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_83", "trajectory_length": 220, "key_frame_indices": [ 0, 181, 219 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_83.json" } }, { "id": "droid_cotrack_episode_10306", "task": "Open the left door of the cabinet on the right; Open the left cabinet door; Open the left cabinet door", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10306/frame_0000.jpg", "droid-cotrack/images/episode_10306/frame_0084.jpg", "droid-cotrack/images/episode_10306/frame_0109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the left door of the cabinet on the right; Open the left cabinet door; Open the left cabinet door?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the left door of the cabinet on the right; Open the left cabinet door; Open the left cabinet door, execute the following phases: 1) Initial approach phase (start at [0.455, 0.662]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.355, 0.719]). The trajectory involves 110 precise waypoints with total movement distance of 0.205." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10306", "trajectory_length": 110, "key_frame_indices": [ 0, 84, 109 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10306.json" } }, { "id": "droid_cotrack_episode_512", "task": "Move the carton box slightly to the center of the table; Move the box slightly to the right; Move the basket backward", "selected_step": 1, "image": [ "droid-cotrack/images/episode_512/frame_0000.jpg", "droid-cotrack/images/episode_512/frame_0134.jpg", "droid-cotrack/images/episode_512/frame_0203.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the carton box slightly to the center of the table; Move the box slightly to the right; Move the basket backward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the carton box slightly to the center of the table; Move the box slightly to the right; Move the basket backward, execute the following phases: 1) Initial approach phase (start at [0.599, 0.620]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.522, 0.512]). The trajectory involves 204 precise waypoints with total movement distance of 0.217." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_512", "trajectory_length": 204, "key_frame_indices": [ 0, 134, 203 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_512.json" } }, { "id": "droid_cotrack_episode_68", "task": "Pick up the pen and put it in the cup; Put the pen in the white cup; Put the pen in the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_68/frame_0000.jpg", "droid-cotrack/images/episode_68/frame_0110.jpg", "droid-cotrack/images/episode_68/frame_0255.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the pen and put it in the cup; Put the pen in the white cup; Put the pen in the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the pen and put it in the cup; Put the pen in the white cup; Put the pen in the cup, execute the following phases: 1) Initial approach phase (start at [0.571, 0.406]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.581, 0.386]). The trajectory involves 256 precise waypoints with total movement distance of 0.257." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_68", "trajectory_length": 256, "key_frame_indices": [ 0, 110, 255 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_68.json" } }, { "id": "droid_cotrack_episode_1284", "task": "Push the orange towel on the table to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1284/frame_0000.jpg", "droid-cotrack/images/episode_1284/frame_0068.jpg", "droid-cotrack/images/episode_1284/frame_0082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the orange towel on the table to the left?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push the orange towel on the table to the left, execute the following phases: 1) Initial approach phase (start at [0.725, 0.579]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.599, 0.562]). The trajectory involves 83 precise waypoints with total movement distance of 0.162." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1284", "trajectory_length": 83, "key_frame_indices": [ 0, 68, 82 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1284.json" } }, { "id": "droid_cotrack_episode_4104", "task": "Close the tap", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4104/frame_0000.jpg", "droid-cotrack/images/episode_4104/frame_0049.jpg", "droid-cotrack/images/episode_4104/frame_0288.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the tap?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the tap, execute the following phases: 1) Initial approach phase (start at [0.434, 0.545]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.435, 0.544]). The trajectory involves 289 precise waypoints with total movement distance of 0.088." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4104", "trajectory_length": 289, "key_frame_indices": [ 0, 49, 288 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4104.json" } }, { "id": "droid_cotrack_episode_6032", "task": "Turn the tap nozzle to the left; Push the faucet to the left.; Move the tap to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6032/frame_0000.jpg", "droid-cotrack/images/episode_6032/frame_0136.jpg", "droid-cotrack/images/episode_6032/frame_0148.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn the tap nozzle to the left; Push the faucet to the left.; Move the tap to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Turn the tap nozzle to the left; Push the faucet to the left.; Move the tap to the left, execute the following phases: 1) Initial approach phase (start at [0.524, 0.385]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.525, 0.383]). The trajectory involves 149 precise waypoints with total movement distance of 0.051." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6032", "trajectory_length": 149, "key_frame_indices": [ 0, 136, 148 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6032.json" } }, { "id": "droid_cotrack_episode_707", "task": "Remove the pen from the green cup; Take the pen out of the green cup and put it on the counter; Put the marker in the cup on the counter", "selected_step": 1, "image": [ "droid-cotrack/images/episode_707/frame_0000.jpg", "droid-cotrack/images/episode_707/frame_0001.jpg", "droid-cotrack/images/episode_707/frame_0132.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the pen from the green cup; Take the pen out of the green cup and put it on the counter; Put the marker in the cup on the counter?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the pen from the green cup; Take the pen out of the green cup and put it on the counter; Put the marker in the cup on the counter, execute the following phases: 1) Initial approach phase (start at [0.488, 0.600]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.499, 0.756]). The trajectory involves 133 precise waypoints with total movement distance of 0.289." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_707", "trajectory_length": 133, "key_frame_indices": [ 0, 1, 132 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_707.json" } }, { "id": "droid_cotrack_episode_4181", "task": "Pick up the lid and close the container; Place the white lid on the glass food container; Put the lid on the container and press the button atop the lid", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4181/frame_0000.jpg", "droid-cotrack/images/episode_4181/frame_0304.jpg", "droid-cotrack/images/episode_4181/frame_0510.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the lid and close the container; Place the white lid on the glass food container; Put the lid on the container and press the button atop the lid?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the lid and close the container; Place the white lid on the glass food container; Put the lid on the container and press the button atop the lid, execute the following phases: 1) Initial approach phase (start at [0.723, 0.741]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.674, 0.527]). The trajectory involves 511 precise waypoints with total movement distance of 0.981." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4181", "trajectory_length": 511, "key_frame_indices": [ 0, 304, 510 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4181.json" } }, { "id": "droid_cotrack_episode_6335", "task": "Use the towel to wipe the pan", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6335/frame_0000.jpg", "droid-cotrack/images/episode_6335/frame_0195.jpg", "droid-cotrack/images/episode_6335/frame_0274.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the towel to wipe the pan?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Use the towel to wipe the pan, execute the following phases: 1) Initial approach phase (start at [0.404, 0.371]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.407, 0.373]). The trajectory involves 275 precise waypoints with total movement distance of 0.160." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6335", "trajectory_length": 275, "key_frame_indices": [ 0, 195, 274 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6335.json" } }, { "id": "droid_cotrack_episode_4447", "task": "Take the lid off of the silver pot and put it on the table; Remove the lid from the silver pot; Uncover the pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4447/frame_0000.jpg", "droid-cotrack/images/episode_4447/frame_0122.jpg", "droid-cotrack/images/episode_4447/frame_0162.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the lid off of the silver pot and put it on the table; Remove the lid from the silver pot; Uncover the pot?" }, { "from": "gpt", "value": "To complete this repositioning: Take the lid off of the silver pot and put it on the table; Remove the lid from the silver pot; Uncover the pot, execute the following phases: 1) Initial approach phase (start at [0.479, 0.965]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.512, 0.760]). The trajectory involves 163 precise waypoints with total movement distance of 0.684." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4447", "trajectory_length": 163, "key_frame_indices": [ 0, 122, 162 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4447.json" } }, { "id": "droid_cotrack_episode_2175", "task": "Flip the light switch.; Switch on the light; Switch on the light", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2175/frame_0000.jpg", "droid-cotrack/images/episode_2175/frame_0082.jpg", "droid-cotrack/images/episode_2175/frame_0105.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Flip the light switch.; Switch on the light; Switch on the light?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Flip the light switch.; Switch on the light; Switch on the light, execute the following phases: 1) Initial approach phase (start at [0.593, 0.134]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.595, 0.110]). The trajectory involves 106 precise waypoints with total movement distance of 0.102." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2175", "trajectory_length": 106, "key_frame_indices": [ 0, 82, 105 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2175.json" } }, { "id": "droid_cotrack_episode_709", "task": "Place the marker inside the grey bowl; Put the marker in the bowl; Pick the marker and put it in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_709/frame_0000.jpg", "droid-cotrack/images/episode_709/frame_0177.jpg", "droid-cotrack/images/episode_709/frame_0195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the marker inside the grey bowl; Put the marker in the bowl; Pick the marker and put it in the bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Place the marker inside the grey bowl; Put the marker in the bowl; Pick the marker and put it in the bowl, execute the following phases: 1) Initial approach phase (start at [0.406, 0.385]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.542, 0.640]). The trajectory involves 196 precise waypoints with total movement distance of 0.429." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_709", "trajectory_length": 196, "key_frame_indices": [ 0, 177, 195 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_709.json" } }, { "id": "droid_cotrack_episode_10221", "task": "Move the strawberry plush toy to the right of the stove; Take the plush off the stove plate; Move the purple and green object slightly on the right of the stove", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10221/frame_0000.jpg", "droid-cotrack/images/episode_10221/frame_0107.jpg", "droid-cotrack/images/episode_10221/frame_0120.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the strawberry plush toy to the right of the stove; Take the plush off the stove plate; Move the purple and green object slightly on the right of the stove?" }, { "from": "gpt", "value": "To complete this repositioning: Move the strawberry plush toy to the right of the stove; Take the plush off the stove plate; Move the purple and green object slightly on the right of the stove, execute the following phases: 1) Initial approach phase (start at [0.571, 0.698]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.612, 0.763]). The trajectory involves 121 precise waypoints with total movement distance of 0.354." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10221", "trajectory_length": 121, "key_frame_indices": [ 0, 107, 120 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10221.json" } }, { "id": "droid_cotrack_episode_743", "task": "Take the red marker out of the green mug.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_743/frame_0000.jpg", "droid-cotrack/images/episode_743/frame_0282.jpg", "droid-cotrack/images/episode_743/frame_0317.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the red marker out of the green mug.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Take the red marker out of the green mug., execute the following phases: 1) Initial approach phase (start at [0.393, 0.485]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.473, 0.609]). The trajectory involves 318 precise waypoints with total movement distance of 1.087." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_743", "trajectory_length": 318, "key_frame_indices": [ 0, 282, 317 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_743.json" } }, { "id": "droid_cotrack_episode_6636", "task": "Put the blue cup into the pot; Pick up the cup from the table and put it in the pot; Put the blue cup in the pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6636/frame_0000.jpg", "droid-cotrack/images/episode_6636/frame_0090.jpg", "droid-cotrack/images/episode_6636/frame_0133.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the blue cup into the pot; Pick up the cup from the table and put it in the pot; Put the blue cup in the pot?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the blue cup into the pot; Pick up the cup from the table and put it in the pot; Put the blue cup in the pot, execute the following phases: 1) Initial approach phase (start at [0.703, 0.355]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.769, 0.461]). The trajectory involves 134 precise waypoints with total movement distance of 0.838." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6636", "trajectory_length": 134, "key_frame_indices": [ 0, 90, 133 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6636.json" } }, { "id": "droid_cotrack_episode_4177", "task": "Put the ropes inside the box.; Pick up the rope from the table and put it in the box; Put the strings in the blue box", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4177/frame_0000.jpg", "droid-cotrack/images/episode_4177/frame_0156.jpg", "droid-cotrack/images/episode_4177/frame_0560.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the ropes inside the box.; Pick up the rope from the table and put it in the box; Put the strings in the blue box?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the ropes inside the box.; Pick up the rope from the table and put it in the box; Put the strings in the blue box, execute the following phases: 1) Initial approach phase (start at [0.452, 0.387]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.448, 0.390]). The trajectory involves 561 precise waypoints with total movement distance of 1.433." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4177", "trajectory_length": 561, "key_frame_indices": [ 0, 156, 560 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4177.json" } }, { "id": "droid_cotrack_episode_1975", "task": "Move the orange object into the colourless bowl; Pick up the orange block and put it in the box; Pick the yellow object on the couch and put it in the box", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1975/frame_0000.jpg", "droid-cotrack/images/episode_1975/frame_0217.jpg", "droid-cotrack/images/episode_1975/frame_0225.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the orange object into the colourless bowl; Pick up the orange block and put it in the box; Pick the yellow object on the couch and put it in the box?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Move the orange object into the colourless bowl; Pick up the orange block and put it in the box; Pick the yellow object on the couch and put it in the box, execute the following phases: 1) Initial approach phase (start at [0.615, 0.888]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.618, 0.890]). The trajectory involves 226 precise waypoints with total movement distance of 0.114." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1975", "trajectory_length": 226, "key_frame_indices": [ 0, 217, 225 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1975.json" } }, { "id": "droid_cotrack_episode_4448", "task": "Remove the green pen from the mug; Put the pen in the mug on the table; Remove the green pen from the white mug", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4448/frame_0000.jpg", "droid-cotrack/images/episode_4448/frame_0241.jpg", "droid-cotrack/images/episode_4448/frame_0259.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the green pen from the mug; Put the pen in the mug on the table; Remove the green pen from the white mug?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the green pen from the mug; Put the pen in the mug on the table; Remove the green pen from the white mug, execute the following phases: 1) Initial approach phase (start at [0.547, 0.769]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.411, 0.592]). The trajectory involves 260 precise waypoints with total movement distance of 0.835." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4448", "trajectory_length": 260, "key_frame_indices": [ 0, 241, 259 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4448.json" } }, { "id": "droid_cotrack_episode_6810", "task": "Put the packet on the shelf", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6810/frame_0000.jpg", "droid-cotrack/images/episode_6810/frame_0136.jpg", "droid-cotrack/images/episode_6810/frame_0289.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the packet on the shelf?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the packet on the shelf, execute the following phases: 1) Initial approach phase (start at [0.402, 0.563]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.394, 0.678]). The trajectory involves 290 precise waypoints with total movement distance of 1.710." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6810", "trajectory_length": 290, "key_frame_indices": [ 0, 136, 289 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6810.json" } }, { "id": "droid_cotrack_episode_4061", "task": "Take the marker out of the cup and put it on the table; Take the marker out of the white mug; Remove the pen from the cup and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4061/frame_0000.jpg", "droid-cotrack/images/episode_4061/frame_0175.jpg", "droid-cotrack/images/episode_4061/frame_0236.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the marker out of the cup and put it on the table; Take the marker out of the white mug; Remove the pen from the cup and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Take the marker out of the cup and put it on the table; Take the marker out of the white mug; Remove the pen from the cup and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.656, 0.298]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.518, 0.534]). The trajectory involves 237 precise waypoints with total movement distance of 0.522." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4061", "trajectory_length": 237, "key_frame_indices": [ 0, 175, 236 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4061.json" } }, { "id": "droid_cotrack_episode_10068", "task": "Take the yellow ball out of the bowl and put it on the plate; Put the yellow ball on the plate; Put the yellow ball on the white plate", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10068/frame_0000.jpg", "droid-cotrack/images/episode_10068/frame_0261.jpg", "droid-cotrack/images/episode_10068/frame_0328.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the yellow ball out of the bowl and put it on the plate; Put the yellow ball on the plate; Put the yellow ball on the white plate?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Take the yellow ball out of the bowl and put it on the plate; Put the yellow ball on the plate; Put the yellow ball on the white plate, execute the following phases: 1) Initial approach phase (start at [0.606, 0.714]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.528, 0.945]). The trajectory involves 329 precise waypoints with total movement distance of 0.578." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10068", "trajectory_length": 329, "key_frame_indices": [ 0, 261, 328 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10068.json" } }, { "id": "droid_cotrack_episode_1434", "task": "Press a button on the bottom right side of the toaster to release the lever upwards; Release the lever on the toaster upwards; Turn off the toaster", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1434/frame_0000.jpg", "droid-cotrack/images/episode_1434/frame_0147.jpg", "droid-cotrack/images/episode_1434/frame_0154.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Press a button on the bottom right side of the toaster to release the lever upwards; Release the lever on the toaster upwards; Turn off the toaster?" }, { "from": "gpt", "value": "To complete this button/switch activation: Press a button on the bottom right side of the toaster to release the lever upwards; Release the lever on the toaster upwards; Turn off the toaster, execute the following phases: 1) Initial approach phase (start at [0.594, 0.476]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.595, 0.474]). The trajectory involves 155 precise waypoints with total movement distance of 0.052." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1434", "trajectory_length": 155, "key_frame_indices": [ 0, 147, 154 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1434.json" } }, { "id": "droid_cotrack_episode_1628", "task": "Take the marker from the table and put it in the white cup; Put the marker in the mug; Pick the marker on the table and put it in the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1628/frame_0000.jpg", "droid-cotrack/images/episode_1628/frame_0222.jpg", "droid-cotrack/images/episode_1628/frame_0243.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the marker from the table and put it in the white cup; Put the marker in the mug; Pick the marker on the table and put it in the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Take the marker from the table and put it in the white cup; Put the marker in the mug; Pick the marker on the table and put it in the cup, execute the following phases: 1) Initial approach phase (start at [0.432, 0.645]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.547, 0.056]). The trajectory involves 244 precise waypoints with total movement distance of 1.128." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1628", "trajectory_length": 244, "key_frame_indices": [ 0, 222, 243 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1628.json" } }, { "id": "droid_cotrack_episode_4304", "task": "Empty the cup into the bowl; Pour the contents in the orange cup into the green bowl; Pour the contents of the cup into the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4304/frame_0000.jpg", "droid-cotrack/images/episode_4304/frame_0052.jpg", "droid-cotrack/images/episode_4304/frame_0114.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Empty the cup into the bowl; Pour the contents in the orange cup into the green bowl; Pour the contents of the cup into the bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Empty the cup into the bowl; Pour the contents in the orange cup into the green bowl; Pour the contents of the cup into the bowl, execute the following phases: 1) Initial approach phase (start at [0.563, 0.696]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.538, 0.559]). The trajectory involves 115 precise waypoints with total movement distance of 0.271." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4304", "trajectory_length": 115, "key_frame_indices": [ 0, 52, 114 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4304.json" } }, { "id": "droid_cotrack_episode_6735", "task": "Open the cupboard; Open the cupboard; Open the upper door of the cabinet to the right.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6735/frame_0000.jpg", "droid-cotrack/images/episode_6735/frame_0285.jpg", "droid-cotrack/images/episode_6735/frame_0334.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the cupboard; Open the cupboard; Open the upper door of the cabinet to the right.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the cupboard; Open the cupboard; Open the upper door of the cabinet to the right., execute the following phases: 1) Initial approach phase (start at [0.586, 0.419]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.585, 0.417]). The trajectory involves 335 precise waypoints with total movement distance of 0.148." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6735", "trajectory_length": 335, "key_frame_indices": [ 0, 285, 334 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6735.json" } }, { "id": "droid_cotrack_episode_6033", "task": "Pick the cloth and hang it on the object; Put the cloth on the black rod; Hang the cloth on the stand", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6033/frame_0000.jpg", "droid-cotrack/images/episode_6033/frame_0087.jpg", "droid-cotrack/images/episode_6033/frame_0161.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the cloth and hang it on the object; Put the cloth on the black rod; Hang the cloth on the stand?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the cloth and hang it on the object; Put the cloth on the black rod; Hang the cloth on the stand, execute the following phases: 1) Initial approach phase (start at [0.430, 0.513]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.482, 0.262]). The trajectory involves 162 precise waypoints with total movement distance of 0.775." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6033", "trajectory_length": 162, "key_frame_indices": [ 0, 87, 161 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6033.json" } }, { "id": "droid_cotrack_episode_10109", "task": "Move the black tongs to the plate in the dish drainer; Pick the tongs and put them on the plate; Put the tongs on the counter on the dish rack", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10109/frame_0000.jpg", "droid-cotrack/images/episode_10109/frame_0127.jpg", "droid-cotrack/images/episode_10109/frame_0199.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the black tongs to the plate in the dish drainer; Pick the tongs and put them on the plate; Put the tongs on the counter on the dish rack?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Move the black tongs to the plate in the dish drainer; Pick the tongs and put them on the plate; Put the tongs on the counter on the dish rack, execute the following phases: 1) Initial approach phase (start at [0.455, 0.526]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.433, 0.513]). The trajectory involves 200 precise waypoints with total movement distance of 0.160." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10109", "trajectory_length": 200, "key_frame_indices": [ 0, 127, 199 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10109.json" } }, { "id": "droid_cotrack_episode_1891", "task": "Open the left top drawer; Open the top left drawer; Open the top drawer on the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1891/frame_0000.jpg", "droid-cotrack/images/episode_1891/frame_0097.jpg", "droid-cotrack/images/episode_1891/frame_0172.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the left top drawer; Open the top left drawer; Open the top drawer on the left?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the left top drawer; Open the top left drawer; Open the top drawer on the left, execute the following phases: 1) Initial approach phase (start at [0.526, 0.476]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.531, 0.481]). The trajectory involves 173 precise waypoints with total movement distance of 0.101." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1891", "trajectory_length": 173, "key_frame_indices": [ 0, 97, 172 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1891.json" } }, { "id": "droid_cotrack_episode_6586", "task": "Put the green marker inside the bowl; Put the pen in the bowl; Put the marker in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6586/frame_0000.jpg", "droid-cotrack/images/episode_6586/frame_0159.jpg", "droid-cotrack/images/episode_6586/frame_0175.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the green marker inside the bowl; Put the pen in the bowl; Put the marker in the bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the green marker inside the bowl; Put the pen in the bowl; Put the marker in the bowl, execute the following phases: 1) Initial approach phase (start at [0.448, 0.477]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.447, 0.446]). The trajectory involves 176 precise waypoints with total movement distance of 0.813." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6586", "trajectory_length": 176, "key_frame_indices": [ 0, 159, 175 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6586.json" } }, { "id": "droid_cotrack_episode_264", "task": "Pick up the white cloth and put it on the table.; Remove the towel from the transparent object and put it on the table; Unhang the cloth from the glass barrier", "selected_step": 1, "image": [ "droid-cotrack/images/episode_264/frame_0000.jpg", "droid-cotrack/images/episode_264/frame_0085.jpg", "droid-cotrack/images/episode_264/frame_0105.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the white cloth and put it on the table.; Remove the towel from the transparent object and put it on the table; Unhang the cloth from the glass barrier?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the white cloth and put it on the table.; Remove the towel from the transparent object and put it on the table; Unhang the cloth from the glass barrier, execute the following phases: 1) Initial approach phase (start at [0.555, 0.339]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.556, 0.349]). The trajectory involves 106 precise waypoints with total movement distance of 0.051." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_264", "trajectory_length": 106, "key_frame_indices": [ 0, 85, 105 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_264.json" } }, { "id": "droid_cotrack_episode_502", "task": "Pick up the green block from the table and put in the black bowl.; Place the green block into the black bowl; Put the green block inside the black bowl.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_502/frame_0000.jpg", "droid-cotrack/images/episode_502/frame_0069.jpg", "droid-cotrack/images/episode_502/frame_0071.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the green block from the table and put in the black bowl.; Place the green block into the black bowl; Put the green block inside the black bowl.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the green block from the table and put in the black bowl.; Place the green block into the black bowl; Put the green block inside the black bowl., execute the following phases: 1) Initial approach phase (start at [0.649, 0.544]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.672, 0.661]). The trajectory involves 72 precise waypoints with total movement distance of 0.224." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_502", "trajectory_length": 72, "key_frame_indices": [ 0, 69, 71 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_502.json" } }, { "id": "droid_cotrack_episode_1062", "task": "Move the marker to the right; Move the black marker to the right; Move the marker to the right slightly", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1062/frame_0000.jpg", "droid-cotrack/images/episode_1062/frame_0066.jpg", "droid-cotrack/images/episode_1062/frame_0105.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the marker to the right; Move the black marker to the right; Move the marker to the right slightly?" }, { "from": "gpt", "value": "To complete this repositioning: Move the marker to the right; Move the black marker to the right; Move the marker to the right slightly, execute the following phases: 1) Initial approach phase (start at [0.538, 0.494]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.623, 0.510]). The trajectory involves 106 precise waypoints with total movement distance of 0.142." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1062", "trajectory_length": 106, "key_frame_indices": [ 0, 66, 105 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1062.json" } }, { "id": "droid_cotrack_episode_10173", "task": "Put the orange block on the green block; Put the orange block over the green block; Put the orange block on top of the green block", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10173/frame_0000.jpg", "droid-cotrack/images/episode_10173/frame_0105.jpg", "droid-cotrack/images/episode_10173/frame_0145.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange block on the green block; Put the orange block over the green block; Put the orange block on top of the green block?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the orange block on the green block; Put the orange block over the green block; Put the orange block on top of the green block, execute the following phases: 1) Initial approach phase (start at [0.514, 0.578]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.594, 0.514]). The trajectory involves 146 precise waypoints with total movement distance of 0.265." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10173", "trajectory_length": 146, "key_frame_indices": [ 0, 105, 145 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10173.json" } }, { "id": "droid_cotrack_episode_81", "task": "Remove the red cup from the dishwasher and put it in the black lunchbox in the sink; Take the cup from the rack and put it in the tray in the sink; Take the pink cup out of the dish rack and put it on the black tray in the sink", "selected_step": 1, "image": [ "droid-cotrack/images/episode_81/frame_0000.jpg", "droid-cotrack/images/episode_81/frame_0298.jpg", "droid-cotrack/images/episode_81/frame_0505.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the red cup from the dishwasher and put it in the black lunchbox in the sink; Take the cup from the rack and put it in the tray in the sink; Take the pink cup out of the dish rack and put it on the black tray in the sink?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the red cup from the dishwasher and put it in the black lunchbox in the sink; Take the cup from the rack and put it in the tray in the sink; Take the pink cup out of the dish rack and put it on the black tray in the sink, execute the following phases: 1) Initial approach phase (start at [0.504, 0.508]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.611, 0.656]). The trajectory involves 506 precise waypoints with total movement distance of 0.936." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_81", "trajectory_length": 506, "key_frame_indices": [ 0, 298, 505 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_81.json" } }, { "id": "droid_cotrack_episode_4487", "task": "Move the tap to the right; Move the tap to the left; Move the faucet spout to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4487/frame_0000.jpg", "droid-cotrack/images/episode_4487/frame_0089.jpg", "droid-cotrack/images/episode_4487/frame_0090.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the tap to the right; Move the tap to the left; Move the faucet spout to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the tap to the right; Move the tap to the left; Move the faucet spout to the left, execute the following phases: 1) Initial approach phase (start at [0.471, 0.519]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.471, 0.515]). The trajectory involves 91 precise waypoints with total movement distance of 0.048." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4487", "trajectory_length": 91, "key_frame_indices": [ 0, 89, 90 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4487.json" } }, { "id": "droid_cotrack_episode_4203", "task": "Put the glass lid onto the black pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4203/frame_0000.jpg", "droid-cotrack/images/episode_4203/frame_0219.jpg", "droid-cotrack/images/episode_4203/frame_0232.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the glass lid onto the black pot?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the glass lid onto the black pot, execute the following phases: 1) Initial approach phase (start at [0.415, 0.526]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.459, 0.609]). The trajectory involves 233 precise waypoints with total movement distance of 0.313." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4203", "trajectory_length": 233, "key_frame_indices": [ 0, 219, 232 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4203.json" } }, { "id": "droid_cotrack_episode_922", "task": "Remove the metal bowl from the cooker and put it in the sink; Remove the silver pot from the cooker and put it in the sink; Take out the silver item in the appliance and put it in the sink", "selected_step": 1, "image": [ "droid-cotrack/images/episode_922/frame_0000.jpg", "droid-cotrack/images/episode_922/frame_0132.jpg", "droid-cotrack/images/episode_922/frame_0530.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the metal bowl from the cooker and put it in the sink; Remove the silver pot from the cooker and put it in the sink; Take out the silver item in the appliance and put it in the sink?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the metal bowl from the cooker and put it in the sink; Remove the silver pot from the cooker and put it in the sink; Take out the silver item in the appliance and put it in the sink, execute the following phases: 1) Initial approach phase (start at [0.354, 0.596]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.347, 0.613]). The trajectory involves 531 precise waypoints with total movement distance of 0.232." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_922", "trajectory_length": 531, "key_frame_indices": [ 0, 132, 530 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_922.json" } }, { "id": "droid_cotrack_episode_6470", "task": "Close the top drawer of the kitchen unit; Close the drawer; Close the drawer", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6470/frame_0000.jpg", "droid-cotrack/images/episode_6470/frame_0056.jpg", "droid-cotrack/images/episode_6470/frame_0093.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the top drawer of the kitchen unit; Close the drawer; Close the drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the top drawer of the kitchen unit; Close the drawer; Close the drawer, execute the following phases: 1) Initial approach phase (start at [0.498, 0.508]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.415, 0.404]). The trajectory involves 94 precise waypoints with total movement distance of 0.169." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6470", "trajectory_length": 94, "key_frame_indices": [ 0, 56, 93 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6470.json" } }, { "id": "droid_cotrack_episode_4362", "task": "Wipe the table with the towel; Use the towel to wipe the table; Take the towel and clean the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4362/frame_0000.jpg", "droid-cotrack/images/episode_4362/frame_0167.jpg", "droid-cotrack/images/episode_4362/frame_0275.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Wipe the table with the towel; Use the towel to wipe the table; Take the towel and clean the table?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Wipe the table with the towel; Use the towel to wipe the table; Take the towel and clean the table, execute the following phases: 1) Initial approach phase (start at [0.626, 0.622]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.553, 0.563]). The trajectory involves 276 precise waypoints with total movement distance of 2.306." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4362", "trajectory_length": 276, "key_frame_indices": [ 0, 167, 275 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4362.json" } }, { "id": "droid_cotrack_episode_463", "task": "Move the bottle forward; Move the bottle backwards; Move the black bottle forward", "selected_step": 1, "image": [ "droid-cotrack/images/episode_463/frame_0000.jpg", "droid-cotrack/images/episode_463/frame_0134.jpg", "droid-cotrack/images/episode_463/frame_0198.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bottle forward; Move the bottle backwards; Move the black bottle forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bottle forward; Move the bottle backwards; Move the black bottle forward, execute the following phases: 1) Initial approach phase (start at [0.610, 0.460]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.476, 0.272]). The trajectory involves 199 precise waypoints with total movement distance of 0.588." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_463", "trajectory_length": 199, "key_frame_indices": [ 0, 134, 198 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_463.json" } }, { "id": "droid_cotrack_episode_1910", "task": "Move the green towel to the left; Move the green towel to the left; Move the green towel to the left.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1910/frame_0000.jpg", "droid-cotrack/images/episode_1910/frame_0078.jpg", "droid-cotrack/images/episode_1910/frame_0111.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the green towel to the left; Move the green towel to the left; Move the green towel to the left.?" }, { "from": "gpt", "value": "To complete this repositioning: Move the green towel to the left; Move the green towel to the left; Move the green towel to the left., execute the following phases: 1) Initial approach phase (start at [0.568, 0.470]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.481, 0.404]). The trajectory involves 112 precise waypoints with total movement distance of 0.160." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1910", "trajectory_length": 112, "key_frame_indices": [ 0, 78, 111 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1910.json" } }, { "id": "droid_cotrack_episode_4234", "task": "Fold the towel twice; Fold the towel; Fold the cloth on the counter", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4234/frame_0000.jpg", "droid-cotrack/images/episode_4234/frame_0189.jpg", "droid-cotrack/images/episode_4234/frame_0570.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the towel twice; Fold the towel; Fold the cloth on the counter?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Fold the towel twice; Fold the towel; Fold the cloth on the counter, execute the following phases: 1) Initial approach phase (start at [0.590, 0.589]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.607, 0.574]). The trajectory involves 571 precise waypoints with total movement distance of 0.418." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4234", "trajectory_length": 571, "key_frame_indices": [ 0, 189, 570 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4234.json" } }, { "id": "droid_cotrack_episode_1973", "task": "Put the orange measuring cup in the silver pot.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1973/frame_0000.jpg", "droid-cotrack/images/episode_1973/frame_0086.jpg", "droid-cotrack/images/episode_1973/frame_0161.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange measuring cup in the silver pot.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the orange measuring cup in the silver pot., execute the following phases: 1) Initial approach phase (start at [0.287, 0.634]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.569, 0.629]). The trajectory involves 162 precise waypoints with total movement distance of 0.541." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1973", "trajectory_length": 162, "key_frame_indices": [ 0, 86, 161 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1973.json" } }, { "id": "droid_cotrack_episode_4244", "task": "Take the stick of glue out of the mug and place it on the right side of the table; Remove the glue stick from the mug and put it at the far right side of table; Take the marker out of the cup and place it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4244/frame_0000.jpg", "droid-cotrack/images/episode_4244/frame_0202.jpg", "droid-cotrack/images/episode_4244/frame_0203.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the stick of glue out of the mug and place it on the right side of the table; Remove the glue stick from the mug and put it at the far right side of table; Take the marker out of the cup and place it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Take the stick of glue out of the mug and place it on the right side of the table; Remove the glue stick from the mug and put it at the far right side of table; Take the marker out of the cup and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.540, 0.418]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.654, 0.431]). The trajectory involves 204 precise waypoints with total movement distance of 0.638." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4244", "trajectory_length": 204, "key_frame_indices": [ 0, 202, 203 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4244.json" } }, { "id": "droid_cotrack_episode_1126", "task": "Place the marker on the desk; Remove the black marker from the red mug then put it on the table; Remove the marker out of the cup and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1126/frame_0000.jpg", "droid-cotrack/images/episode_1126/frame_0100.jpg", "droid-cotrack/images/episode_1126/frame_0114.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the marker on the desk; Remove the black marker from the red mug then put it on the table; Remove the marker out of the cup and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Place the marker on the desk; Remove the black marker from the red mug then put it on the table; Remove the marker out of the cup and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.643, 0.393]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.552, 0.534]). The trajectory involves 115 precise waypoints with total movement distance of 0.554." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1126", "trajectory_length": 115, "key_frame_indices": [ 0, 100, 114 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1126.json" } }, { "id": "droid_cotrack_episode_2245", "task": "Put the plastic fork inside the black object.; Pick up the fork and put it in the black object; Pick up the folk from the table and put it in the black object", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2245/frame_0000.jpg", "droid-cotrack/images/episode_2245/frame_0095.jpg", "droid-cotrack/images/episode_2245/frame_0211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the plastic fork inside the black object.; Pick up the fork and put it in the black object; Pick up the folk from the table and put it in the black object?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the plastic fork inside the black object.; Pick up the fork and put it in the black object; Pick up the folk from the table and put it in the black object, execute the following phases: 1) Initial approach phase (start at [0.663, 0.561]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.664, 0.562]). The trajectory involves 212 precise waypoints with total movement distance of 0.109." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2245", "trajectory_length": 212, "key_frame_indices": [ 0, 95, 211 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2245.json" } }, { "id": "droid_cotrack_episode_2220", "task": "Place the yellow rectangular block inside the wooden object", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2220/frame_0000.jpg", "droid-cotrack/images/episode_2220/frame_0132.jpg", "droid-cotrack/images/episode_2220/frame_0189.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the yellow rectangular block inside the wooden object?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Place the yellow rectangular block inside the wooden object, execute the following phases: 1) Initial approach phase (start at [0.409, 0.700]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.460, 0.636]). The trajectory involves 190 precise waypoints with total movement distance of 0.242." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2220", "trajectory_length": 190, "key_frame_indices": [ 0, 132, 189 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2220.json" } }, { "id": "droid_cotrack_episode_4462", "task": "Place one slice of bread in the toaster; Put the slice of bread in the toaster; Take the left slice of bread and place it in the right compartment of the toaster", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4462/frame_0000.jpg", "droid-cotrack/images/episode_4462/frame_0286.jpg", "droid-cotrack/images/episode_4462/frame_0297.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place one slice of bread in the toaster; Put the slice of bread in the toaster; Take the left slice of bread and place it in the right compartment of the toaster?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Place one slice of bread in the toaster; Put the slice of bread in the toaster; Take the left slice of bread and place it in the right compartment of the toaster, execute the following phases: 1) Initial approach phase (start at [0.521, 0.555]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.476, 0.531]). The trajectory involves 298 precise waypoints with total movement distance of 0.694." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4462", "trajectory_length": 298, "key_frame_indices": [ 0, 286, 297 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4462.json" } }, { "id": "droid_cotrack_episode_2255", "task": "Remove the marker from the bowl and put it on the table; Remove the marker from the bowl and put it on the table; Remove the marker from the mug cup and place it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2255/frame_0000.jpg", "droid-cotrack/images/episode_2255/frame_0094.jpg", "droid-cotrack/images/episode_2255/frame_0150.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker from the bowl and put it on the table; Remove the marker from the bowl and put it on the table; Remove the marker from the mug cup and place it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the marker from the bowl and put it on the table; Remove the marker from the bowl and put it on the table; Remove the marker from the mug cup and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.697, 0.546]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.697, 0.548]). The trajectory involves 151 precise waypoints with total movement distance of 0.049." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2255", "trajectory_length": 151, "key_frame_indices": [ 0, 94, 150 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2255.json" } }, { "id": "droid_cotrack_episode_2164", "task": "Pick up the peach toy from the table and move it to the right.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2164/frame_0000.jpg", "droid-cotrack/images/episode_2164/frame_0078.jpg", "droid-cotrack/images/episode_2164/frame_0128.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the peach toy from the table and move it to the right.?" }, { "from": "gpt", "value": "To complete this repositioning: Pick up the peach toy from the table and move it to the right., execute the following phases: 1) Initial approach phase (start at [0.287, 0.833]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.669, 0.762]). The trajectory involves 129 precise waypoints with total movement distance of 0.973." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2164", "trajectory_length": 129, "key_frame_indices": [ 0, 78, 128 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2164.json" } }, { "id": "droid_cotrack_episode_3203", "task": "Pick up the pen from the table and put it in the cup; Put the marker inside the mug cup; Pick up the marker from the table and put it in the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_3203/frame_0000.jpg", "droid-cotrack/images/episode_3203/frame_0139.jpg", "droid-cotrack/images/episode_3203/frame_0256.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the pen from the table and put it in the cup; Put the marker inside the mug cup; Pick up the marker from the table and put it in the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the pen from the table and put it in the cup; Put the marker inside the mug cup; Pick up the marker from the table and put it in the cup, execute the following phases: 1) Initial approach phase (start at [0.651, 0.476]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.517, 0.305]). The trajectory involves 257 precise waypoints with total movement distance of 0.555." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_3203", "trajectory_length": 257, "key_frame_indices": [ 0, 139, 256 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_3203.json" } }, { "id": "droid_cotrack_episode_222", "task": "Put the marker on the counter; Remove the marker from the cup and place it on the counter top; Pick up the marker from the cup and put it on the kitchen unit base", "selected_step": 1, "image": [ "droid-cotrack/images/episode_222/frame_0000.jpg", "droid-cotrack/images/episode_222/frame_0124.jpg", "droid-cotrack/images/episode_222/frame_0155.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker on the counter; Remove the marker from the cup and place it on the counter top; Pick up the marker from the cup and put it on the kitchen unit base?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the marker on the counter; Remove the marker from the cup and place it on the counter top; Pick up the marker from the cup and put it on the kitchen unit base, execute the following phases: 1) Initial approach phase (start at [0.640, 0.734]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.733, 0.860]). The trajectory involves 156 precise waypoints with total movement distance of 0.779." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_222", "trajectory_length": 156, "key_frame_indices": [ 0, 124, 155 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_222.json" } }, { "id": "droid_cotrack_episode_1259", "task": "Push the faucet handle upwards; Lift up the tap handle fully; Push the faucet handle upwards", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1259/frame_0000.jpg", "droid-cotrack/images/episode_1259/frame_0328.jpg", "droid-cotrack/images/episode_1259/frame_0428.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the faucet handle upwards; Lift up the tap handle fully; Push the faucet handle upwards?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push the faucet handle upwards; Lift up the tap handle fully; Push the faucet handle upwards, execute the following phases: 1) Initial approach phase (start at [0.300, 0.484]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.290, 0.476]). The trajectory involves 429 precise waypoints with total movement distance of 0.218." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1259", "trajectory_length": 429, "key_frame_indices": [ 0, 328, 428 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1259.json" } }, { "id": "droid_cotrack_episode_6495", "task": "Take an egg from the tray and place it on the counter; Remove one egg from the egg tray and place it on the countertop; Take an egg from the egg tray and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6495/frame_0000.jpg", "droid-cotrack/images/episode_6495/frame_0057.jpg", "droid-cotrack/images/episode_6495/frame_0149.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take an egg from the tray and place it on the counter; Remove one egg from the egg tray and place it on the countertop; Take an egg from the egg tray and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Take an egg from the tray and place it on the counter; Remove one egg from the egg tray and place it on the countertop; Take an egg from the egg tray and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.344, 0.904]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.344, 0.906]). The trajectory involves 150 precise waypoints with total movement distance of 0.082." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6495", "trajectory_length": 150, "key_frame_indices": [ 0, 57, 149 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6495.json" } }, { "id": "droid_cotrack_episode_1318", "task": "Pick up the marker and put it in the bowl; Put the marker inside the bowl; Pick up the marker and put it in the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1318/frame_0000.jpg", "droid-cotrack/images/episode_1318/frame_0148.jpg", "droid-cotrack/images/episode_1318/frame_0164.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the marker and put it in the bowl; Put the marker inside the bowl; Pick up the marker and put it in the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the marker and put it in the bowl; Put the marker inside the bowl; Pick up the marker and put it in the cup, execute the following phases: 1) Initial approach phase (start at [0.430, 0.481]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.552, 0.688]). The trajectory involves 165 precise waypoints with total movement distance of 0.496." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1318", "trajectory_length": 165, "key_frame_indices": [ 0, 148, 164 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1318.json" } }, { "id": "droid_cotrack_episode_4078", "task": "Pick up the orange object tool and put it on the bowl; Place the wrench inside the black bowl.; Pick up the orange tool and put it in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4078/frame_0000.jpg", "droid-cotrack/images/episode_4078/frame_0106.jpg", "droid-cotrack/images/episode_4078/frame_0147.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the orange object tool and put it on the bowl; Place the wrench inside the black bowl.; Pick up the orange tool and put it in the bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the orange object tool and put it on the bowl; Place the wrench inside the black bowl.; Pick up the orange tool and put it in the bowl, execute the following phases: 1) Initial approach phase (start at [0.710, 0.601]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.745, 0.761]). The trajectory involves 148 precise waypoints with total movement distance of 0.503." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4078", "trajectory_length": 148, "key_frame_indices": [ 0, 106, 147 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4078.json" } }, { "id": "droid_cotrack_episode_964", "task": "Put the toy into the black bowl.; Put the teddy bear inside the bowl; Pick up the toy from the table and put it in the black bowl.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_964/frame_0000.jpg", "droid-cotrack/images/episode_964/frame_0157.jpg", "droid-cotrack/images/episode_964/frame_0185.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the toy into the black bowl.; Put the teddy bear inside the bowl; Pick up the toy from the table and put it in the black bowl.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the toy into the black bowl.; Put the teddy bear inside the bowl; Pick up the toy from the table and put it in the black bowl., execute the following phases: 1) Initial approach phase (start at [0.609, 0.551]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.663, 0.652]). The trajectory involves 186 precise waypoints with total movement distance of 0.466." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_964", "trajectory_length": 186, "key_frame_indices": [ 0, 157, 185 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_964.json" } }, { "id": "droid_cotrack_episode_6611", "task": "Move the tap nozzle to the right; Move the tap nozzle to the right; Turn the faucet to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6611/frame_0000.jpg", "droid-cotrack/images/episode_6611/frame_0211.jpg", "droid-cotrack/images/episode_6611/frame_0221.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the tap nozzle to the right; Move the tap nozzle to the right; Turn the faucet to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the tap nozzle to the right; Move the tap nozzle to the right; Turn the faucet to the right, execute the following phases: 1) Initial approach phase (start at [0.536, 0.535]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.575, 0.461]). The trajectory involves 222 precise waypoints with total movement distance of 0.315." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6611", "trajectory_length": 222, "key_frame_indices": [ 0, 211, 221 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6611.json" } }, { "id": "droid_cotrack_episode_359", "task": "Take the pen and put it near the light blue bowl; Place the marker next to the bowl; Move the marker away from the plate", "selected_step": 1, "image": [ "droid-cotrack/images/episode_359/frame_0000.jpg", "droid-cotrack/images/episode_359/frame_0162.jpg", "droid-cotrack/images/episode_359/frame_0177.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the pen and put it near the light blue bowl; Place the marker next to the bowl; Move the marker away from the plate?" }, { "from": "gpt", "value": "To complete this repositioning: Take the pen and put it near the light blue bowl; Place the marker next to the bowl; Move the marker away from the plate, execute the following phases: 1) Initial approach phase (start at [0.440, 0.681]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.491, 0.911]). The trajectory involves 178 precise waypoints with total movement distance of 0.567." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_359", "trajectory_length": 178, "key_frame_indices": [ 0, 162, 177 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_359.json" } }, { "id": "droid_cotrack_episode_854", "task": "Take a piece of tissue out of the tissue box and put it on the pile of tissue on the table; Remove a tissue from the box; Remove the tissue from the box", "selected_step": 1, "image": [ "droid-cotrack/images/episode_854/frame_0000.jpg", "droid-cotrack/images/episode_854/frame_0135.jpg", "droid-cotrack/images/episode_854/frame_0205.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take a piece of tissue out of the tissue box and put it on the pile of tissue on the table; Remove a tissue from the box; Remove the tissue from the box?" }, { "from": "gpt", "value": "To complete this repositioning: Take a piece of tissue out of the tissue box and put it on the pile of tissue on the table; Remove a tissue from the box; Remove the tissue from the box, execute the following phases: 1) Initial approach phase (start at [0.527, 0.394]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.519, 0.394]). The trajectory involves 206 precise waypoints with total movement distance of 0.180." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_854", "trajectory_length": 206, "key_frame_indices": [ 0, 135, 205 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_854.json" } }, { "id": "droid_cotrack_episode_1980", "task": "Turn on the second switch from the right end of the extension cord; Press the second button from the right on the extension cord; Turn on the switch of the first right slot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1980/frame_0000.jpg", "droid-cotrack/images/episode_1980/frame_0116.jpg", "droid-cotrack/images/episode_1980/frame_0119.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn on the second switch from the right end of the extension cord; Press the second button from the right on the extension cord; Turn on the switch of the first right slot?" }, { "from": "gpt", "value": "To complete this button/switch activation: Turn on the second switch from the right end of the extension cord; Press the second button from the right on the extension cord; Turn on the switch of the first right slot, execute the following phases: 1) Initial approach phase (start at [0.472, 0.403]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.475, 0.402]). The trajectory involves 120 precise waypoints with total movement distance of 0.043." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1980", "trajectory_length": 120, "key_frame_indices": [ 0, 116, 119 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1980.json" } }, { "id": "droid_cotrack_episode_6568", "task": "Slide the grey towel to the left.; Move the towel to the left; Move the towel slightly to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6568/frame_0000.jpg", "droid-cotrack/images/episode_6568/frame_0069.jpg", "droid-cotrack/images/episode_6568/frame_0088.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the grey towel to the left.; Move the towel to the left; Move the towel slightly to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the grey towel to the left.; Move the towel to the left; Move the towel slightly to the left, execute the following phases: 1) Initial approach phase (start at [0.645, 0.638]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.550, 0.446]). The trajectory involves 89 precise waypoints with total movement distance of 0.248." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6568", "trajectory_length": 89, "key_frame_indices": [ 0, 69, 88 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6568.json" } }, { "id": "droid_cotrack_episode_844", "task": "Pour some contents from the box into the pot; Pour some cereal into the pot; Pour the pasta into the pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_844/frame_0000.jpg", "droid-cotrack/images/episode_844/frame_0245.jpg", "droid-cotrack/images/episode_844/frame_0384.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour some contents from the box into the pot; Pour some cereal into the pot; Pour the pasta into the pot?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Pour some contents from the box into the pot; Pour some cereal into the pot; Pour the pasta into the pot, execute the following phases: 1) Initial approach phase (start at [0.490, 0.595]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.492, 0.580]). The trajectory involves 385 precise waypoints with total movement distance of 1.063." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_844", "trajectory_length": 385, "key_frame_indices": [ 0, 245, 384 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_844.json" } }, { "id": "droid_cotrack_episode_774", "task": "Move the yellow towel to the right side of the table; Move the yellow towel from the left to the right side of the desk; Slide the towel to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_774/frame_0000.jpg", "droid-cotrack/images/episode_774/frame_0103.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the yellow towel to the right side of the table; Move the yellow towel from the left to the right side of the desk; Slide the towel to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the yellow towel to the right side of the table; Move the yellow towel from the left to the right side of the desk; Slide the towel to the right, execute the following phases: 1) Initial approach phase (start at [0.466, 0.440]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.356, 0.632]). The trajectory involves 104 precise waypoints with total movement distance of 0.673." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_774", "trajectory_length": 104, "key_frame_indices": [ 0, 103 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_774.json" } }, { "id": "droid_cotrack_episode_4578", "task": "Move the towel to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4578/frame_0000.jpg", "droid-cotrack/images/episode_4578/frame_0112.jpg", "droid-cotrack/images/episode_4578/frame_0132.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the towel to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the towel to the left, execute the following phases: 1) Initial approach phase (start at [0.671, 0.761]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.556, 0.453]). The trajectory involves 133 precise waypoints with total movement distance of 0.361." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4578", "trajectory_length": 133, "key_frame_indices": [ 0, 112, 132 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4578.json" } }, { "id": "droid_cotrack_episode_4043", "task": "Push the first Foosball handle from the right inwards; Push the fourth foosball handle inside; Push the rod that is third from right on the foosball", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4043/frame_0000.jpg", "droid-cotrack/images/episode_4043/frame_0114.jpg", "droid-cotrack/images/episode_4043/frame_0153.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the first Foosball handle from the right inwards; Push the fourth foosball handle inside; Push the rod that is third from right on the foosball?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push the first Foosball handle from the right inwards; Push the fourth foosball handle inside; Push the rod that is third from right on the foosball, execute the following phases: 1) Initial approach phase (start at [0.546, 0.603]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.658, 0.613]). The trajectory involves 154 precise waypoints with total movement distance of 0.190." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4043", "trajectory_length": 154, "key_frame_indices": [ 0, 114, 153 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4043.json" } }, { "id": "droid_cotrack_episode_1922", "task": "Remove the pen from the mug and put it on the table; Remove the pen from the mug and put it on the table; Remove the pen from the mug cup and place it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1922/frame_0000.jpg", "droid-cotrack/images/episode_1922/frame_0099.jpg", "droid-cotrack/images/episode_1922/frame_0112.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the pen from the mug and put it on the table; Remove the pen from the mug and put it on the table; Remove the pen from the mug cup and place it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the pen from the mug and put it on the table; Remove the pen from the mug and put it on the table; Remove the pen from the mug cup and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.428, 0.427]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.432, 0.431]). The trajectory involves 113 precise waypoints with total movement distance of 0.056." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1922", "trajectory_length": 113, "key_frame_indices": [ 0, 99, 112 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1922.json" } }, { "id": "droid_cotrack_episode_6446", "task": "Put the orange object into the bowl.; Remove the screwdriver from the object and put it in the bowl; Put the metal object with the orange handle in the black bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6446/frame_0000.jpg", "droid-cotrack/images/episode_6446/frame_0081.jpg", "droid-cotrack/images/episode_6446/frame_0162.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange object into the bowl.; Remove the screwdriver from the object and put it in the bowl; Put the metal object with the orange handle in the black bowl?" }, { "from": "gpt", "value": "To complete this repositioning: Put the orange object into the bowl.; Remove the screwdriver from the object and put it in the bowl; Put the metal object with the orange handle in the black bowl, execute the following phases: 1) Initial approach phase (start at [0.614, 0.667]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.682, 0.719]). The trajectory involves 163 precise waypoints with total movement distance of 0.899." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6446", "trajectory_length": 163, "key_frame_indices": [ 0, 81, 162 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6446.json" } }, { "id": "droid_cotrack_episode_10027", "task": "Put half a spoon of the blue bowl's contents into the small crate", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10027/frame_0000.jpg", "droid-cotrack/images/episode_10027/frame_0577.jpg", "droid-cotrack/images/episode_10027/frame_0646.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put half a spoon of the blue bowl's contents into the small crate?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put half a spoon of the blue bowl's contents into the small crate, execute the following phases: 1) Initial approach phase (start at [0.545, 0.341]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.544, 0.349]). The trajectory involves 647 precise waypoints with total movement distance of 1.176." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10027", "trajectory_length": 647, "key_frame_indices": [ 0, 577, 646 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10027.json" } }, { "id": "droid_cotrack_episode_10069", "task": "Take the black object out of the drawer on the right and put it on the counter; Take the black object out of the drawer and place it on the countertop.; Move the black object in the drawer to the countertop", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10069/frame_0000.jpg", "droid-cotrack/images/episode_10069/frame_0098.jpg", "droid-cotrack/images/episode_10069/frame_0162.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the black object out of the drawer on the right and put it on the counter; Take the black object out of the drawer and place it on the countertop.; Move the black object in the drawer to the countertop?" }, { "from": "gpt", "value": "To complete this repositioning: Take the black object out of the drawer on the right and put it on the counter; Take the black object out of the drawer and place it on the countertop.; Move the black object in the drawer to the countertop, execute the following phases: 1) Initial approach phase (start at [0.524, 0.666]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.429, 0.422]). The trajectory involves 163 precise waypoints with total movement distance of 0.457." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10069", "trajectory_length": 163, "key_frame_indices": [ 0, 98, 162 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10069.json" } }, { "id": "droid_cotrack_episode_6037", "task": "Close the sandwich maker; Close the griller; Close the toaster", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6037/frame_0000.jpg", "droid-cotrack/images/episode_6037/frame_0160.jpg", "droid-cotrack/images/episode_6037/frame_0194.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the sandwich maker; Close the griller; Close the toaster?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the sandwich maker; Close the griller; Close the toaster, execute the following phases: 1) Initial approach phase (start at [0.590, 0.464]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.578, 0.471]). The trajectory involves 195 precise waypoints with total movement distance of 0.957." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6037", "trajectory_length": 195, "key_frame_indices": [ 0, 160, 194 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6037.json" } }, { "id": "droid_cotrack_episode_1010", "task": "Pick up the marker and put it in the cup; Put the marker in the cup; Put the marker in the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1010/frame_0000.jpg", "droid-cotrack/images/episode_1010/frame_0371.jpg", "droid-cotrack/images/episode_1010/frame_0387.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the marker and put it in the cup; Put the marker in the cup; Put the marker in the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the marker and put it in the cup; Put the marker in the cup; Put the marker in the cup, execute the following phases: 1) Initial approach phase (start at [0.671, 0.638]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.641, 0.666]). The trajectory involves 388 precise waypoints with total movement distance of 1.278." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1010", "trajectory_length": 388, "key_frame_indices": [ 0, 371, 387 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1010.json" } }, { "id": "droid_cotrack_episode_6040", "task": "Put the green sachet in the basket.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6040/frame_0000.jpg", "droid-cotrack/images/episode_6040/frame_0088.jpg", "droid-cotrack/images/episode_6040/frame_0186.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the green sachet in the basket.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the green sachet in the basket., execute the following phases: 1) Initial approach phase (start at [0.562, 0.633]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.693, 0.443]). The trajectory involves 187 precise waypoints with total movement distance of 0.661." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6040", "trajectory_length": 187, "key_frame_indices": [ 0, 88, 186 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6040.json" } }, { "id": "droid_cotrack_episode_1780", "task": "Take the black lid from the table and put it on the gray pot; Take the black lid and put it on the gray pot; Put the black lid on top of the grey pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1780/frame_0000.jpg", "droid-cotrack/images/episode_1780/frame_0202.jpg", "droid-cotrack/images/episode_1780/frame_0267.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the black lid from the table and put it on the gray pot; Take the black lid and put it on the gray pot; Put the black lid on top of the grey pot?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Take the black lid from the table and put it on the gray pot; Take the black lid and put it on the gray pot; Put the black lid on top of the grey pot, execute the following phases: 1) Initial approach phase (start at [0.681, 0.545]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.709, 0.567]). The trajectory involves 268 precise waypoints with total movement distance of 0.207." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1780", "trajectory_length": 268, "key_frame_indices": [ 0, 202, 267 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1780.json" } }, { "id": "droid_cotrack_episode_560", "task": "Put the black marker inside the silver pot; Put the black marker in the pot; Put the marker in the pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_560/frame_0000.jpg", "droid-cotrack/images/episode_560/frame_0200.jpg", "droid-cotrack/images/episode_560/frame_0215.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the black marker inside the silver pot; Put the black marker in the pot; Put the marker in the pot?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the black marker inside the silver pot; Put the black marker in the pot; Put the marker in the pot, execute the following phases: 1) Initial approach phase (start at [0.461, 0.439]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.469, 0.442]). The trajectory involves 216 precise waypoints with total movement distance of 0.124." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_560", "trajectory_length": 216, "key_frame_indices": [ 0, 200, 215 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_560.json" } }, { "id": "droid_cotrack_episode_4051", "task": "Press the lid of the flask; Close the cap on the top of the bottle; Close the flask lid", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4051/frame_0000.jpg", "droid-cotrack/images/episode_4051/frame_0032.jpg", "droid-cotrack/images/episode_4051/frame_0122.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Press the lid of the flask; Close the cap on the top of the bottle; Close the flask lid?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Press the lid of the flask; Close the cap on the top of the bottle; Close the flask lid, execute the following phases: 1) Initial approach phase (start at [0.659, 0.719]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.661, 0.719]). The trajectory involves 123 precise waypoints with total movement distance of 0.043." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4051", "trajectory_length": 123, "key_frame_indices": [ 0, 32, 122 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4051.json" } }, { "id": "droid_cotrack_episode_1512", "task": "Place the lid on the jar", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1512/frame_0000.jpg", "droid-cotrack/images/episode_1512/frame_0119.jpg", "droid-cotrack/images/episode_1512/frame_0343.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the lid on the jar?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Place the lid on the jar, execute the following phases: 1) Initial approach phase (start at [0.510, 0.515]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.510, 0.514]). The trajectory involves 344 precise waypoints with total movement distance of 0.132." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1512", "trajectory_length": 344, "key_frame_indices": [ 0, 119, 343 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1512.json" } }, { "id": "droid_cotrack_episode_4477", "task": "Pick the green object in the basket and put it on the tray; Put the green pear on the black tray; Pick up the apple plush toy and put it on the tray", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4477/frame_0000.jpg", "droid-cotrack/images/episode_4477/frame_0250.jpg", "droid-cotrack/images/episode_4477/frame_0263.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the green object in the basket and put it on the tray; Put the green pear on the black tray; Pick up the apple plush toy and put it on the tray?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the green object in the basket and put it on the tray; Put the green pear on the black tray; Pick up the apple plush toy and put it on the tray, execute the following phases: 1) Initial approach phase (start at [0.774, 0.582]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.786, 0.619]). The trajectory involves 264 precise waypoints with total movement distance of 0.892." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4477", "trajectory_length": 264, "key_frame_indices": [ 0, 250, 263 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4477.json" } }, { "id": "droid_cotrack_episode_1476", "task": "Bring the clear bottle closer to the wall", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1476/frame_0000.jpg", "droid-cotrack/images/episode_1476/frame_0092.jpg", "droid-cotrack/images/episode_1476/frame_0180.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Bring the clear bottle closer to the wall?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Bring the clear bottle closer to the wall, execute the following phases: 1) Initial approach phase (start at [0.657, 0.337]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.657, 0.338]). The trajectory involves 181 precise waypoints with total movement distance of 0.051." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1476", "trajectory_length": 181, "key_frame_indices": [ 0, 92, 180 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1476.json" } }, { "id": "droid_cotrack_episode_4324", "task": "Remove the wrench from the toolbox and place it in the blue cup next to the toolbox", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4324/frame_0000.jpg", "droid-cotrack/images/episode_4324/frame_0113.jpg", "droid-cotrack/images/episode_4324/frame_0134.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the wrench from the toolbox and place it in the blue cup next to the toolbox?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the wrench from the toolbox and place it in the blue cup next to the toolbox, execute the following phases: 1) Initial approach phase (start at [0.591, 0.490]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.716, 0.491]). The trajectory involves 135 precise waypoints with total movement distance of 0.544." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4324", "trajectory_length": 135, "key_frame_indices": [ 0, 113, 134 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4324.json" } }, { "id": "droid_cotrack_episode_307", "task": "Close the top right drawer; Close the top right drawer; Close the top drawer on the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_307/frame_0000.jpg", "droid-cotrack/images/episode_307/frame_0116.jpg", "droid-cotrack/images/episode_307/frame_0120.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the top right drawer; Close the top right drawer; Close the top drawer on the right?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the top right drawer; Close the top right drawer; Close the top drawer on the right, execute the following phases: 1) Initial approach phase (start at [0.677, 0.311]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.667, 0.299]). The trajectory involves 121 precise waypoints with total movement distance of 0.211." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_307", "trajectory_length": 121, "key_frame_indices": [ 0, 116, 120 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_307.json" } }, { "id": "droid_cotrack_episode_4488", "task": "Move the candies from the cup to the bowl; Pour the contents in the cup into the bowl; Remove the candies from the cup and put them in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4488/frame_0000.jpg", "droid-cotrack/images/episode_4488/frame_0096.jpg", "droid-cotrack/images/episode_4488/frame_0307.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the candies from the cup to the bowl; Pour the contents in the cup into the bowl; Remove the candies from the cup and put them in the bowl?" }, { "from": "gpt", "value": "To complete this repositioning: Move the candies from the cup to the bowl; Pour the contents in the cup into the bowl; Remove the candies from the cup and put them in the bowl, execute the following phases: 1) Initial approach phase (start at [0.611, 0.749]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.593, 0.799]). The trajectory involves 308 precise waypoints with total movement distance of 0.777." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4488", "trajectory_length": 308, "key_frame_indices": [ 0, 96, 307 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4488.json" } }, { "id": "droid_cotrack_episode_2160", "task": "Put the rope on the skate then press on it; Put the rope on the skate then press on it; Install the rope in the object", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2160/frame_0000.jpg", "droid-cotrack/images/episode_2160/frame_0156.jpg", "droid-cotrack/images/episode_2160/frame_1099.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the rope on the skate then press on it; Put the rope on the skate then press on it; Install the rope in the object?" }, { "from": "gpt", "value": "To complete this button/switch activation: Put the rope on the skate then press on it; Put the rope on the skate then press on it; Install the rope in the object, execute the following phases: 1) Initial approach phase (start at [0.556, 0.584]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.553, 0.594]). The trajectory involves 1100 precise waypoints with total movement distance of 0.600." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2160", "trajectory_length": 1100, "key_frame_indices": [ 0, 156, 1099 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2160.json" } }, { "id": "droid_cotrack_episode_1252", "task": "Push down the toaster lever; Push down the toaster lever; Push down on the slider on the toaster.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1252/frame_0000.jpg", "droid-cotrack/images/episode_1252/frame_0015.jpg", "droid-cotrack/images/episode_1252/frame_0177.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push down the toaster lever; Push down the toaster lever; Push down on the slider on the toaster.?" }, { "from": "gpt", "value": "To complete this repositioning: Push down the toaster lever; Push down the toaster lever; Push down on the slider on the toaster., execute the following phases: 1) Initial approach phase (start at [0.323, 0.591]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.323, 0.589]). The trajectory involves 178 precise waypoints with total movement distance of 0.071." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1252", "trajectory_length": 178, "key_frame_indices": [ 0, 15, 177 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1252.json" } }, { "id": "droid_cotrack_episode_1392", "task": "Move the marker to the left; Move the marker to the right; Move the marker to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1392/frame_0000.jpg", "droid-cotrack/images/episode_1392/frame_0107.jpg", "droid-cotrack/images/episode_1392/frame_0165.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the marker to the left; Move the marker to the right; Move the marker to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the marker to the left; Move the marker to the right; Move the marker to the left, execute the following phases: 1) Initial approach phase (start at [0.605, 0.614]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.606, 0.608]). The trajectory involves 166 precise waypoints with total movement distance of 0.090." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1392", "trajectory_length": 166, "key_frame_indices": [ 0, 107, 165 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1392.json" } }, { "id": "droid_cotrack_episode_2249", "task": "Move the can to the right; Move the can to the right end of the table; Pick up the can and put it on the right side of the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2249/frame_0000.jpg", "droid-cotrack/images/episode_2249/frame_0113.jpg", "droid-cotrack/images/episode_2249/frame_0152.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the can to the right; Move the can to the right end of the table; Pick up the can and put it on the right side of the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Move the can to the right; Move the can to the right end of the table; Pick up the can and put it on the right side of the table, execute the following phases: 1) Initial approach phase (start at [0.494, 0.366]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.747, 0.348]). The trajectory involves 153 precise waypoints with total movement distance of 0.408." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2249", "trajectory_length": 153, "key_frame_indices": [ 0, 113, 152 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2249.json" } }, { "id": "droid_cotrack_episode_1826", "task": "Pick up the cloth and place it on the board; Put the towel on the wooden object; Pick up the towel and hang it on the object", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1826/frame_0000.jpg", "droid-cotrack/images/episode_1826/frame_0101.jpg", "droid-cotrack/images/episode_1826/frame_0200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the cloth and place it on the board; Put the towel on the wooden object; Pick up the towel and hang it on the object?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the cloth and place it on the board; Put the towel on the wooden object; Pick up the towel and hang it on the object, execute the following phases: 1) Initial approach phase (start at [0.438, 0.834]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.433, 0.831]). The trajectory involves 201 precise waypoints with total movement distance of 0.196." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1826", "trajectory_length": 201, "key_frame_indices": [ 0, 101, 200 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1826.json" } }, { "id": "droid_cotrack_episode_1853", "task": "Put the peach on top of the shelf; Put the peach on the top of the shelf; Move the object and put it on top of the rack", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1853/frame_0000.jpg", "droid-cotrack/images/episode_1853/frame_0069.jpg", "droid-cotrack/images/episode_1853/frame_0103.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the peach on top of the shelf; Put the peach on the top of the shelf; Move the object and put it on top of the rack?" }, { "from": "gpt", "value": "To complete this repositioning: Put the peach on top of the shelf; Put the peach on the top of the shelf; Move the object and put it on top of the rack, execute the following phases: 1) Initial approach phase (start at [0.648, 0.408]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.657, 0.117]). The trajectory involves 104 precise waypoints with total movement distance of 0.459." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1853", "trajectory_length": 104, "key_frame_indices": [ 0, 69, 103 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1853.json" } }, { "id": "droid_cotrack_episode_232", "task": "Put the marker in the bowl; Put the marker in the bowl; Put the marker inside the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_232/frame_0000.jpg", "droid-cotrack/images/episode_232/frame_0216.jpg", "droid-cotrack/images/episode_232/frame_0224.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the bowl; Put the marker in the bowl; Put the marker inside the bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the marker in the bowl; Put the marker in the bowl; Put the marker inside the bowl, execute the following phases: 1) Initial approach phase (start at [0.375, 0.432]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.510, 0.705]). The trajectory involves 225 precise waypoints with total movement distance of 0.662." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_232", "trajectory_length": 225, "key_frame_indices": [ 0, 216, 224 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_232.json" } }, { "id": "droid_cotrack_episode_10152", "task": "Switch on the extension adapter; Turn on the adapter; Turn on the switch of the extension cord", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10152/frame_0000.jpg", "droid-cotrack/images/episode_10152/frame_0179.jpg", "droid-cotrack/images/episode_10152/frame_0210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Switch on the extension adapter; Turn on the adapter; Turn on the switch of the extension cord?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Switch on the extension adapter; Turn on the adapter; Turn on the switch of the extension cord, execute the following phases: 1) Initial approach phase (start at [0.963, 0.623]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.951, 0.613]). The trajectory involves 211 precise waypoints with total movement distance of 0.068." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10152", "trajectory_length": 211, "key_frame_indices": [ 0, 179, 210 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10152.json" } }, { "id": "droid_cotrack_episode_4000", "task": "Close the microwave; Close the microwave door; Close the microwave door", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4000/frame_0000.jpg", "droid-cotrack/images/episode_4000/frame_0090.jpg", "droid-cotrack/images/episode_4000/frame_0366.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the microwave; Close the microwave door; Close the microwave door?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the microwave; Close the microwave door; Close the microwave door, execute the following phases: 1) Initial approach phase (start at [0.447, 0.337]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.585, 0.357]). The trajectory involves 367 precise waypoints with total movement distance of 0.437." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4000", "trajectory_length": 367, "key_frame_indices": [ 0, 90, 366 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4000.json" } }, { "id": "droid_cotrack_episode_1681", "task": "Put the white cloth on the table; Remove the towel from the object and put it on the table; Unhang the cloth from my stand", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1681/frame_0000.jpg", "droid-cotrack/images/episode_1681/frame_0163.jpg", "droid-cotrack/images/episode_1681/frame_0180.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the white cloth on the table; Remove the towel from the object and put it on the table; Unhang the cloth from my stand?" }, { "from": "gpt", "value": "To complete this repositioning: Put the white cloth on the table; Remove the towel from the object and put it on the table; Unhang the cloth from my stand, execute the following phases: 1) Initial approach phase (start at [0.559, 0.026]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.406, -0.033]). The trajectory involves 181 precise waypoints with total movement distance of 0.974." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1681", "trajectory_length": 181, "key_frame_indices": [ 0, 163, 180 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1681.json" } }, { "id": "droid_cotrack_episode_6324", "task": "Pick the object on the right of the couch; Empty the brown bag; Move the brown bag toward the backrest of the couch", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6324/frame_0000.jpg", "droid-cotrack/images/episode_6324/frame_0442.jpg", "droid-cotrack/images/episode_6324/frame_0491.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the object on the right of the couch; Empty the brown bag; Move the brown bag toward the backrest of the couch?" }, { "from": "gpt", "value": "To complete this repositioning: Pick the object on the right of the couch; Empty the brown bag; Move the brown bag toward the backrest of the couch, execute the following phases: 1) Initial approach phase (start at [0.727, 0.401]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.664, 0.382]). The trajectory involves 492 precise waypoints with total movement distance of 0.990." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6324", "trajectory_length": 492, "key_frame_indices": [ 0, 442, 491 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6324.json" } }, { "id": "droid_cotrack_episode_1668", "task": "Move the bottle away from you; Move the pill bottle to the left; Move the bottle backward", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1668/frame_0000.jpg", "droid-cotrack/images/episode_1668/frame_0175.jpg", "droid-cotrack/images/episode_1668/frame_0219.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bottle away from you; Move the pill bottle to the left; Move the bottle backward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bottle away from you; Move the pill bottle to the left; Move the bottle backward, execute the following phases: 1) Initial approach phase (start at [0.766, 0.393]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.583, 0.387]). The trajectory involves 220 precise waypoints with total movement distance of 0.378." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1668", "trajectory_length": 220, "key_frame_indices": [ 0, 175, 219 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1668.json" } }, { "id": "droid_cotrack_episode_4472", "task": "Remove the marker from the bowl.; Remove the marker from the bowl; Remove the marker from the bowl and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4472/frame_0000.jpg", "droid-cotrack/images/episode_4472/frame_0147.jpg", "droid-cotrack/images/episode_4472/frame_0178.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker from the bowl.; Remove the marker from the bowl; Remove the marker from the bowl and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the marker from the bowl.; Remove the marker from the bowl; Remove the marker from the bowl and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.513, 0.712]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.401, 0.549]). The trajectory involves 179 precise waypoints with total movement distance of 0.605." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4472", "trajectory_length": 179, "key_frame_indices": [ 0, 147, 178 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4472.json" } }, { "id": "droid_cotrack_episode_1915", "task": "Press down the stapler; Press on the stapler on the table; Press down on the stapler", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1915/frame_0000.jpg", "droid-cotrack/images/episode_1915/frame_0118.jpg", "droid-cotrack/images/episode_1915/frame_0157.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Press down the stapler; Press on the stapler on the table; Press down on the stapler?" }, { "from": "gpt", "value": "To complete this button/switch activation: Press down the stapler; Press on the stapler on the table; Press down on the stapler, execute the following phases: 1) Initial approach phase (start at [0.654, 0.560]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.631, 0.572]). The trajectory involves 158 precise waypoints with total movement distance of 0.094." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1915", "trajectory_length": 158, "key_frame_indices": [ 0, 118, 157 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1915.json" } }, { "id": "droid_cotrack_episode_2105", "task": "Move the red bowl forward; Move the orange bowl to the right; Move the red bowl to the right front", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2105/frame_0000.jpg", "droid-cotrack/images/episode_2105/frame_0100.jpg", "droid-cotrack/images/episode_2105/frame_0127.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the red bowl forward; Move the orange bowl to the right; Move the red bowl to the right front?" }, { "from": "gpt", "value": "To complete this repositioning: Move the red bowl forward; Move the orange bowl to the right; Move the red bowl to the right front, execute the following phases: 1) Initial approach phase (start at [0.641, 0.392]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.706, 0.554]). The trajectory involves 128 precise waypoints with total movement distance of 0.314." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2105", "trajectory_length": 128, "key_frame_indices": [ 0, 100, 127 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2105.json" } }, { "id": "droid_cotrack_episode_10259", "task": "Move the cup slightly to the right; Move the mug slightly to the right; Move the cup slightly to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10259/frame_0000.jpg", "droid-cotrack/images/episode_10259/frame_0104.jpg", "droid-cotrack/images/episode_10259/frame_0147.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup slightly to the right; Move the mug slightly to the right; Move the cup slightly to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup slightly to the right; Move the mug slightly to the right; Move the cup slightly to the right, execute the following phases: 1) Initial approach phase (start at [0.630, 0.608]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.647, 0.546]). The trajectory involves 148 precise waypoints with total movement distance of 0.143." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10259", "trajectory_length": 148, "key_frame_indices": [ 0, 104, 147 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10259.json" } }, { "id": "droid_cotrack_episode_1928", "task": "Turn on the white switch on the stove.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1928/frame_0000.jpg", "droid-cotrack/images/episode_1928/frame_0166.jpg", "droid-cotrack/images/episode_1928/frame_0182.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn on the white switch on the stove.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Turn on the white switch on the stove., execute the following phases: 1) Initial approach phase (start at [0.511, 0.926]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.510, 0.925]). The trajectory involves 183 precise waypoints with total movement distance of 0.084." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1928", "trajectory_length": 183, "key_frame_indices": [ 0, 166, 182 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1928.json" } }, { "id": "droid_cotrack_episode_702", "task": "Remove the lid from bowl and place it on the table; Pick up the lid from the jar and put it on the table; Press the button on the top of the white lid, then put the lid on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_702/frame_0000.jpg", "droid-cotrack/images/episode_702/frame_0266.jpg", "droid-cotrack/images/episode_702/frame_0376.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the lid from bowl and place it on the table; Pick up the lid from the jar and put it on the table; Press the button on the top of the white lid, then put the lid on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Remove the lid from bowl and place it on the table; Pick up the lid from the jar and put it on the table; Press the button on the top of the white lid, then put the lid on the table, execute the following phases: 1) Initial approach phase (start at [0.653, 0.592]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.762, 0.848]). The trajectory involves 377 precise waypoints with total movement distance of 1.054." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_702", "trajectory_length": 377, "key_frame_indices": [ 0, 266, 376 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_702.json" } }, { "id": "droid_cotrack_episode_4416", "task": "Pick up the lid and close the pot; Cover the pot with the lid on the table; Cover the grey pot with the black lid", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4416/frame_0000.jpg", "droid-cotrack/images/episode_4416/frame_0001.jpg", "droid-cotrack/images/episode_4416/frame_0278.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the lid and close the pot; Cover the pot with the lid on the table; Cover the grey pot with the black lid?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Pick up the lid and close the pot; Cover the pot with the lid on the table; Cover the grey pot with the black lid, execute the following phases: 1) Initial approach phase (start at [0.535, 0.820]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.513, 0.836]). The trajectory involves 279 precise waypoints with total movement distance of 2.810." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4416", "trajectory_length": 279, "key_frame_indices": [ 0, 1, 278 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4416.json" } }, { "id": "droid_cotrack_episode_4184", "task": "Close the open top drawer; Close the top drawer; Close the top drawer of the left cabinet", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4184/frame_0000.jpg", "droid-cotrack/images/episode_4184/frame_0060.jpg", "droid-cotrack/images/episode_4184/frame_0095.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the open top drawer; Close the top drawer; Close the top drawer of the left cabinet?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the open top drawer; Close the top drawer; Close the top drawer of the left cabinet, execute the following phases: 1) Initial approach phase (start at [0.463, 0.817]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.320, 0.797]). The trajectory involves 96 precise waypoints with total movement distance of 0.208." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4184", "trajectory_length": 96, "key_frame_indices": [ 0, 60, 95 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4184.json" } }, { "id": "droid_cotrack_episode_4512", "task": "Take the lid and put it on the bottle; Put the white lid on top of the white container on the left; Pick the green lid on the table and put it on the bottle", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4512/frame_0000.jpg", "droid-cotrack/images/episode_4512/frame_0062.jpg", "droid-cotrack/images/episode_4512/frame_0161.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the lid and put it on the bottle; Put the white lid on top of the white container on the left; Pick the green lid on the table and put it on the bottle?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Take the lid and put it on the bottle; Put the white lid on top of the white container on the left; Pick the green lid on the table and put it on the bottle, execute the following phases: 1) Initial approach phase (start at [0.310, 0.868]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.366, 0.778]). The trajectory involves 162 precise waypoints with total movement distance of 0.328." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4512", "trajectory_length": 162, "key_frame_indices": [ 0, 62, 161 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4512.json" } }, { "id": "droid_cotrack_episode_181", "task": "Pick the lid and put it on the pot; Put the lid on the white pot; Put the lid on the white pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_181/frame_0000.jpg", "droid-cotrack/images/episode_181/frame_0218.jpg", "droid-cotrack/images/episode_181/frame_0441.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the lid and put it on the pot; Put the lid on the white pot; Put the lid on the white pot?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the lid and put it on the pot; Put the lid on the white pot; Put the lid on the white pot, execute the following phases: 1) Initial approach phase (start at [0.615, 0.505]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.613, 0.502]). The trajectory involves 442 precise waypoints with total movement distance of 0.230." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_181", "trajectory_length": 442, "key_frame_indices": [ 0, 218, 441 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_181.json" } }, { "id": "droid_cotrack_episode_2232", "task": "Move the red cup from left to right.; Move the red cup to the right; Move the red cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2232/frame_0000.jpg", "droid-cotrack/images/episode_2232/frame_0171.jpg", "droid-cotrack/images/episode_2232/frame_0214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the red cup from left to right.; Move the red cup to the right; Move the red cup?" }, { "from": "gpt", "value": "To complete this repositioning: Move the red cup from left to right.; Move the red cup to the right; Move the red cup, execute the following phases: 1) Initial approach phase (start at [0.562, 0.607]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.611, 0.743]). The trajectory involves 215 precise waypoints with total movement distance of 0.509." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2232", "trajectory_length": 215, "key_frame_indices": [ 0, 171, 214 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2232.json" } }, { "id": "droid_cotrack_episode_16", "task": "Remove the marker from the mug", "selected_step": 1, "image": [ "droid-cotrack/images/episode_16/frame_0000.jpg", "droid-cotrack/images/episode_16/frame_0102.jpg", "droid-cotrack/images/episode_16/frame_0190.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker from the mug?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the marker from the mug, execute the following phases: 1) Initial approach phase (start at [0.406, 0.301]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.480, 0.588]). The trajectory involves 191 precise waypoints with total movement distance of 0.946." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_16", "trajectory_length": 191, "key_frame_indices": [ 0, 102, 190 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_16.json" } }, { "id": "droid_cotrack_episode_10256", "task": "Put the orange object in the bowl; Put the metal object with the orange handle in the bowl; Place the orange object into the black bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10256/frame_0000.jpg", "droid-cotrack/images/episode_10256/frame_0113.jpg", "droid-cotrack/images/episode_10256/frame_0152.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange object in the bowl; Put the metal object with the orange handle in the bowl; Place the orange object into the black bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the orange object in the bowl; Put the metal object with the orange handle in the bowl; Place the orange object into the black bowl, execute the following phases: 1) Initial approach phase (start at [0.620, 0.684]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.716, 0.562]). The trajectory involves 153 precise waypoints with total movement distance of 0.659." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10256", "trajectory_length": 153, "key_frame_indices": [ 0, 113, 152 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10256.json" } }, { "id": "droid_cotrack_episode_136", "task": "Move the green towel to the bottom right corner; Move the green object backward; Move the towel to the right.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_136/frame_0000.jpg", "droid-cotrack/images/episode_136/frame_0100.jpg", "droid-cotrack/images/episode_136/frame_0111.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the green towel to the bottom right corner; Move the green object backward; Move the towel to the right.?" }, { "from": "gpt", "value": "To complete this repositioning: Move the green towel to the bottom right corner; Move the green object backward; Move the towel to the right., execute the following phases: 1) Initial approach phase (start at [0.514, 0.445]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.493, 0.671]). The trajectory involves 112 precise waypoints with total movement distance of 0.361." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_136", "trajectory_length": 112, "key_frame_indices": [ 0, 100, 111 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_136.json" } }, { "id": "droid_cotrack_episode_4283", "task": "Move the mug to the left; Move the cup away from you; Move the cup slightly to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4283/frame_0000.jpg", "droid-cotrack/images/episode_4283/frame_0120.jpg", "droid-cotrack/images/episode_4283/frame_0174.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug to the left; Move the cup away from you; Move the cup slightly to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug to the left; Move the cup away from you; Move the cup slightly to the left, execute the following phases: 1) Initial approach phase (start at [0.616, 0.649]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.651, 0.521]). The trajectory involves 175 precise waypoints with total movement distance of 0.267." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4283", "trajectory_length": 175, "key_frame_indices": [ 0, 120, 174 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4283.json" } }, { "id": "droid_cotrack_episode_2169", "task": "Remove the plate from the dishwasher and put it on the counter top; Pick up one plate from the dishwasher and place it on the left side of the countertop; Pick up the plate and put it on the counter", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2169/frame_0000.jpg", "droid-cotrack/images/episode_2169/frame_0233.jpg", "droid-cotrack/images/episode_2169/frame_0444.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the plate from the dishwasher and put it on the counter top; Pick up one plate from the dishwasher and place it on the left side of the countertop; Pick up the plate and put it on the counter?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Remove the plate from the dishwasher and put it on the counter top; Pick up one plate from the dishwasher and place it on the left side of the countertop; Pick up the plate and put it on the counter, execute the following phases: 1) Initial approach phase (start at [0.388, 0.543]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.388, 0.541]). The trajectory involves 445 precise waypoints with total movement distance of 0.497." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2169", "trajectory_length": 445, "key_frame_indices": [ 0, 233, 444 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2169.json" } }, { "id": "droid_cotrack_episode_1110", "task": "Close the cupboard door on the right; Close the top right cupboard door; Close the door on the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1110/frame_0000.jpg", "droid-cotrack/images/episode_1110/frame_0142.jpg", "droid-cotrack/images/episode_1110/frame_0418.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the cupboard door on the right; Close the top right cupboard door; Close the door on the right?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the cupboard door on the right; Close the top right cupboard door; Close the door on the right, execute the following phases: 1) Initial approach phase (start at [0.637, 0.163]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.624, 0.175]). The trajectory involves 419 precise waypoints with total movement distance of 0.354." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1110", "trajectory_length": 419, "key_frame_indices": [ 0, 142, 418 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1110.json" } }, { "id": "droid_cotrack_episode_779", "task": "Take the pen out of the green cup and put it on the sink countertop; Take the pen out of the cup and put it on the counter; Pick up the pen from the green cup and put it on the table.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_779/frame_0000.jpg", "droid-cotrack/images/episode_779/frame_0080.jpg", "droid-cotrack/images/episode_779/frame_0106.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the pen out of the green cup and put it on the sink countertop; Take the pen out of the cup and put it on the counter; Pick up the pen from the green cup and put it on the table.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Take the pen out of the green cup and put it on the sink countertop; Take the pen out of the cup and put it on the counter; Pick up the pen from the green cup and put it on the table., execute the following phases: 1) Initial approach phase (start at [0.558, 0.603]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.423, 0.731]). The trajectory involves 107 precise waypoints with total movement distance of 0.646." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_779", "trajectory_length": 107, "key_frame_indices": [ 0, 80, 106 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_779.json" } }, { "id": "droid_cotrack_episode_1292", "task": "Put the cube in the bowl; Place the red and blue object in the bowl; Pick up the cube and put it in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1292/frame_0000.jpg", "droid-cotrack/images/episode_1292/frame_0085.jpg", "droid-cotrack/images/episode_1292/frame_0123.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the cube in the bowl; Place the red and blue object in the bowl; Pick up the cube and put it in the bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the cube in the bowl; Place the red and blue object in the bowl; Pick up the cube and put it in the bowl, execute the following phases: 1) Initial approach phase (start at [0.564, 0.710]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.607, 0.633]). The trajectory involves 124 precise waypoints with total movement distance of 0.359." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1292", "trajectory_length": 124, "key_frame_indices": [ 0, 85, 123 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1292.json" } }, { "id": "droid_cotrack_episode_4168", "task": "Pick up the orange cube and put it on top of the green cube; Put the orange block over the green block; Pick up the orange block and put it on top of the green block", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4168/frame_0000.jpg", "droid-cotrack/images/episode_4168/frame_0115.jpg", "droid-cotrack/images/episode_4168/frame_0161.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the orange cube and put it on top of the green cube; Put the orange block over the green block; Pick up the orange block and put it on top of the green block?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the orange cube and put it on top of the green cube; Put the orange block over the green block; Pick up the orange block and put it on top of the green block, execute the following phases: 1) Initial approach phase (start at [0.574, 0.569]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.555, 0.492]). The trajectory involves 162 precise waypoints with total movement distance of 0.272." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4168", "trajectory_length": 162, "key_frame_indices": [ 0, 115, 161 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4168.json" } }, { "id": "droid_cotrack_episode_4395", "task": "Use the spoon to scoop some of the contents in the red bowl into the clear jug; Use the spoon to scoop out some of the contents in the red bowl into the clear jug; Put some beans in the clear jar using the spoon", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4395/frame_0000.jpg", "droid-cotrack/images/episode_4395/frame_0321.jpg", "droid-cotrack/images/episode_4395/frame_0332.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the spoon to scoop some of the contents in the red bowl into the clear jug; Use the spoon to scoop out some of the contents in the red bowl into the clear jug; Put some beans in the clear jar using the spoon?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Use the spoon to scoop some of the contents in the red bowl into the clear jug; Use the spoon to scoop out some of the contents in the red bowl into the clear jug; Put some beans in the clear jar using the spoon, execute the following phases: 1) Initial approach phase (start at [0.603, 0.564]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.603, 0.562]). The trajectory involves 333 precise waypoints with total movement distance of 0.085." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4395", "trajectory_length": 333, "key_frame_indices": [ 0, 321, 332 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4395.json" } }, { "id": "droid_cotrack_episode_2162", "task": "Slide the black part of the lid; Press on the lid; Open the coffee mug", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2162/frame_0000.jpg", "droid-cotrack/images/episode_2162/frame_0125.jpg", "droid-cotrack/images/episode_2162/frame_0146.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the black part of the lid; Press on the lid; Open the coffee mug?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the black part of the lid; Press on the lid; Open the coffee mug, execute the following phases: 1) Initial approach phase (start at [0.855, 0.598]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.857, 0.597]). The trajectory involves 147 precise waypoints with total movement distance of 0.047." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2162", "trajectory_length": 147, "key_frame_indices": [ 0, 125, 146 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2162.json" } }, { "id": "droid_cotrack_episode_10011", "task": "Move the bowl to the right; Move the bowl to the right; Move the bowl to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10011/frame_0000.jpg", "droid-cotrack/images/episode_10011/frame_0062.jpg", "droid-cotrack/images/episode_10011/frame_0103.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bowl to the right; Move the bowl to the right; Move the bowl to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bowl to the right; Move the bowl to the right; Move the bowl to the right, execute the following phases: 1) Initial approach phase (start at [0.499, 0.515]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.562, 0.535]). The trajectory involves 104 precise waypoints with total movement distance of 0.154." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10011", "trajectory_length": 104, "key_frame_indices": [ 0, 62, 103 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10011.json" } }, { "id": "droid_cotrack_episode_6053", "task": "Place the spoon inside the white mug; Put the spoon in the white mug cup; Pick up the spoon from the table and put it in the white cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6053/frame_0000.jpg", "droid-cotrack/images/episode_6053/frame_0143.jpg", "droid-cotrack/images/episode_6053/frame_0299.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the spoon inside the white mug; Put the spoon in the white mug cup; Pick up the spoon from the table and put it in the white cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Place the spoon inside the white mug; Put the spoon in the white mug cup; Pick up the spoon from the table and put it in the white cup, execute the following phases: 1) Initial approach phase (start at [0.445, 0.786]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.467, 0.585]). The trajectory involves 300 precise waypoints with total movement distance of 0.359." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6053", "trajectory_length": 300, "key_frame_indices": [ 0, 143, 299 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6053.json" } }, { "id": "droid_cotrack_episode_1485", "task": "Move the cup to the left and cover it", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1485/frame_0000.jpg", "droid-cotrack/images/episode_1485/frame_0059.jpg", "droid-cotrack/images/episode_1485/frame_0369.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup to the left and cover it?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup to the left and cover it, execute the following phases: 1) Initial approach phase (start at [0.864, 0.601]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.851, 0.571]). The trajectory involves 370 precise waypoints with total movement distance of 1.023." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1485", "trajectory_length": 370, "key_frame_indices": [ 0, 59, 369 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1485.json" } }, { "id": "droid_cotrack_episode_10187", "task": "Move the grey cap to the right and then back to the left; Move the gray cap from left to right to left on the windowsill; Move the grey cap to the right side of the windowsill then move it to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10187/frame_0000.jpg", "droid-cotrack/images/episode_10187/frame_0376.jpg", "droid-cotrack/images/episode_10187/frame_0485.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the grey cap to the right and then back to the left; Move the gray cap from left to right to left on the windowsill; Move the grey cap to the right side of the windowsill then move it to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the grey cap to the right and then back to the left; Move the gray cap from left to right to left on the windowsill; Move the grey cap to the right side of the windowsill then move it to the left, execute the following phases: 1) Initial approach phase (start at [0.545, 0.341]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.548, 0.345]). The trajectory involves 486 precise waypoints with total movement distance of 0.373." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10187", "trajectory_length": 486, "key_frame_indices": [ 0, 376, 485 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10187.json" } }, { "id": "droid_cotrack_episode_523", "task": "Pull the pull out table out; Pull the pull out table out; Open the topmost compartment of the dresser", "selected_step": 1, "image": [ "droid-cotrack/images/episode_523/frame_0000.jpg", "droid-cotrack/images/episode_523/frame_0017.jpg", "droid-cotrack/images/episode_523/frame_0153.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pull the pull out table out; Pull the pull out table out; Open the topmost compartment of the dresser?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Pull the pull out table out; Pull the pull out table out; Open the topmost compartment of the dresser, execute the following phases: 1) Initial approach phase (start at [0.504, 0.412]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.414]). The trajectory involves 154 precise waypoints with total movement distance of 0.083." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_523", "trajectory_length": 154, "key_frame_indices": [ 0, 17, 153 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_523.json" } }, { "id": "droid_cotrack_episode_701", "task": "Open the shower door.; Open the glass door; Open the door", "selected_step": 1, "image": [ "droid-cotrack/images/episode_701/frame_0000.jpg", "droid-cotrack/images/episode_701/frame_0241.jpg", "droid-cotrack/images/episode_701/frame_0263.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the shower door.; Open the glass door; Open the door?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the shower door.; Open the glass door; Open the door, execute the following phases: 1) Initial approach phase (start at [0.723, 0.344]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.843, 0.360]). The trajectory involves 264 precise waypoints with total movement distance of 0.274." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_701", "trajectory_length": 264, "key_frame_indices": [ 0, 241, 263 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_701.json" } }, { "id": "droid_cotrack_episode_1772", "task": "Put the glue stick in the mug; Pick the bottle on the black box and put it in the mug; Put the glue stick on the box into the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1772/frame_0000.jpg", "droid-cotrack/images/episode_1772/frame_0115.jpg", "droid-cotrack/images/episode_1772/frame_0173.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the glue stick in the mug; Pick the bottle on the black box and put it in the mug; Put the glue stick on the box into the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the glue stick in the mug; Pick the bottle on the black box and put it in the mug; Put the glue stick on the box into the cup, execute the following phases: 1) Initial approach phase (start at [0.716, 0.607]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.601, 0.597]). The trajectory involves 174 precise waypoints with total movement distance of 0.428." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1772", "trajectory_length": 174, "key_frame_indices": [ 0, 115, 173 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1772.json" } }, { "id": "droid_cotrack_episode_1178", "task": "Put the ropes into the box.; Place the white ropes into the box; Put the white ropes in the blue box", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1178/frame_0000.jpg", "droid-cotrack/images/episode_1178/frame_0236.jpg", "droid-cotrack/images/episode_1178/frame_0554.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the ropes into the box.; Place the white ropes into the box; Put the white ropes in the blue box?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the ropes into the box.; Place the white ropes into the box; Put the white ropes in the blue box, execute the following phases: 1) Initial approach phase (start at [0.547, 0.593]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.536, 0.592]). The trajectory involves 555 precise waypoints with total movement distance of 0.422." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1178", "trajectory_length": 555, "key_frame_indices": [ 0, 236, 554 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1178.json" } }, { "id": "droid_cotrack_episode_1145", "task": "Turn on the coffeemaker; Push down the button of the airfryer; Turn the switch on the coffee maker on", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1145/frame_0000.jpg", "droid-cotrack/images/episode_1145/frame_0150.jpg", "droid-cotrack/images/episode_1145/frame_0166.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn on the coffeemaker; Push down the button of the airfryer; Turn the switch on the coffee maker on?" }, { "from": "gpt", "value": "To complete this button/switch activation: Turn on the coffeemaker; Push down the button of the airfryer; Turn the switch on the coffee maker on, execute the following phases: 1) Initial approach phase (start at [0.532, 0.416]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.531, 0.414]). The trajectory involves 167 precise waypoints with total movement distance of 0.066." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1145", "trajectory_length": 167, "key_frame_indices": [ 0, 150, 166 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1145.json" } }, { "id": "droid_cotrack_episode_10260", "task": "Flip the left switch; Turn on the left light switch; Turn on the left light switch", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10260/frame_0000.jpg", "droid-cotrack/images/episode_10260/frame_0158.jpg", "droid-cotrack/images/episode_10260/frame_0165.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Flip the left switch; Turn on the left light switch; Turn on the left light switch?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Flip the left switch; Turn on the left light switch; Turn on the left light switch, execute the following phases: 1) Initial approach phase (start at [0.437, 0.356]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.437, 0.356]). The trajectory involves 166 precise waypoints with total movement distance of 0.070." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10260", "trajectory_length": 166, "key_frame_indices": [ 0, 158, 165 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10260.json" } }, { "id": "droid_cotrack_episode_169", "task": "Remove the lid from the transparent jar; Take the lid off the jar and place it on the counter; Remove the lid from the glass jar on the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_169/frame_0000.jpg", "droid-cotrack/images/episode_169/frame_0095.jpg", "droid-cotrack/images/episode_169/frame_0152.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the lid from the transparent jar; Take the lid off the jar and place it on the counter; Remove the lid from the glass jar on the left?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the lid from the transparent jar; Take the lid off the jar and place it on the counter; Remove the lid from the glass jar on the left, execute the following phases: 1) Initial approach phase (start at [0.638, 0.460]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.641, 0.443]). The trajectory involves 153 precise waypoints with total movement distance of 0.224." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_169", "trajectory_length": 153, "key_frame_indices": [ 0, 95, 152 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_169.json" } }, { "id": "droid_cotrack_episode_1406", "task": "Pour the contents in the mug cup into the bowl; Pick up the cup and pour all its contents in the bowl; Pour the contents from the white cup into the white bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1406/frame_0000.jpg", "droid-cotrack/images/episode_1406/frame_0375.jpg", "droid-cotrack/images/episode_1406/frame_0612.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour the contents in the mug cup into the bowl; Pick up the cup and pour all its contents in the bowl; Pour the contents from the white cup into the white bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Pour the contents in the mug cup into the bowl; Pick up the cup and pour all its contents in the bowl; Pour the contents from the white cup into the white bowl, execute the following phases: 1) Initial approach phase (start at [0.437, 0.689]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.433, 0.663]). The trajectory involves 613 precise waypoints with total movement distance of 1.068." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1406", "trajectory_length": 613, "key_frame_indices": [ 0, 375, 612 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1406.json" } }, { "id": "droid_cotrack_episode_6485", "task": "Move the silver bowl to the left side of the pink bowl; Move the pot to the left; Move the silver bowl to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6485/frame_0000.jpg", "droid-cotrack/images/episode_6485/frame_0214.jpg", "droid-cotrack/images/episode_6485/frame_0279.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the silver bowl to the left side of the pink bowl; Move the pot to the left; Move the silver bowl to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the silver bowl to the left side of the pink bowl; Move the pot to the left; Move the silver bowl to the left, execute the following phases: 1) Initial approach phase (start at [0.747, 0.466]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.795, 0.697]). The trajectory involves 280 precise waypoints with total movement distance of 1.400." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6485", "trajectory_length": 280, "key_frame_indices": [ 0, 214, 279 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6485.json" } }, { "id": "droid_cotrack_episode_1354", "task": "Push the basket back into the shelf; Push in the black box; Push the black bin backwards", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1354/frame_0000.jpg", "droid-cotrack/images/episode_1354/frame_0105.jpg", "droid-cotrack/images/episode_1354/frame_0147.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the basket back into the shelf; Push in the black box; Push the black bin backwards?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push the basket back into the shelf; Push in the black box; Push the black bin backwards, execute the following phases: 1) Initial approach phase (start at [0.608, 0.800]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.507, 0.770]). The trajectory involves 148 precise waypoints with total movement distance of 0.207." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1354", "trajectory_length": 148, "key_frame_indices": [ 0, 105, 147 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1354.json" } }, { "id": "droid_cotrack_episode_10064", "task": "Close the brown box.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10064/frame_0000.jpg", "droid-cotrack/images/episode_10064/frame_0084.jpg", "droid-cotrack/images/episode_10064/frame_0164.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the brown box.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the brown box., execute the following phases: 1) Initial approach phase (start at [0.453, 0.602]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.454, 0.604]). The trajectory involves 165 precise waypoints with total movement distance of 0.160." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10064", "trajectory_length": 165, "key_frame_indices": [ 0, 84, 164 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10064.json" } }, { "id": "droid_cotrack_episode_1179", "task": "Cover the salt cellar", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1179/frame_0000.jpg", "droid-cotrack/images/episode_1179/frame_0108.jpg", "droid-cotrack/images/episode_1179/frame_0207.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Cover the salt cellar?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Cover the salt cellar, execute the following phases: 1) Initial approach phase (start at [0.624, 0.858]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.603, 0.688]). The trajectory involves 208 precise waypoints with total movement distance of 0.299." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1179", "trajectory_length": 208, "key_frame_indices": [ 0, 108, 207 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1179.json" } }, { "id": "droid_cotrack_episode_85", "task": "Move the white mug cup slightly to left.; Move the cup; Move the mug to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_85/frame_0000.jpg", "droid-cotrack/images/episode_85/frame_0053.jpg", "droid-cotrack/images/episode_85/frame_0092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the white mug cup slightly to left.; Move the cup; Move the mug to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the white mug cup slightly to left.; Move the cup; Move the mug to the left, execute the following phases: 1) Initial approach phase (start at [0.607, 0.519]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.524, 0.511]). The trajectory involves 93 precise waypoints with total movement distance of 0.219." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_85", "trajectory_length": 93, "key_frame_indices": [ 0, 53, 92 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_85.json" } }, { "id": "droid_cotrack_episode_6436", "task": "Move the blue bottle to the left on the counter; Move the blue bottle to the left; Move the blue bottle to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6436/frame_0000.jpg", "droid-cotrack/images/episode_6436/frame_0082.jpg", "droid-cotrack/images/episode_6436/frame_0123.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the blue bottle to the left on the counter; Move the blue bottle to the left; Move the blue bottle to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the blue bottle to the left on the counter; Move the blue bottle to the left; Move the blue bottle to the left, execute the following phases: 1) Initial approach phase (start at [0.572, 0.665]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.492, 0.571]). The trajectory involves 124 precise waypoints with total movement distance of 0.299." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6436", "trajectory_length": 124, "key_frame_indices": [ 0, 82, 123 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6436.json" } }, { "id": "droid_cotrack_episode_10099", "task": "Move the orange marker to the right; Move the orange marker to the right; Move the pen backwards", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10099/frame_0000.jpg", "droid-cotrack/images/episode_10099/frame_0114.jpg", "droid-cotrack/images/episode_10099/frame_0128.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the orange marker to the right; Move the orange marker to the right; Move the pen backwards?" }, { "from": "gpt", "value": "To complete this repositioning: Move the orange marker to the right; Move the orange marker to the right; Move the pen backwards, execute the following phases: 1) Initial approach phase (start at [0.432, 0.517]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.331, 0.682]). The trajectory involves 129 precise waypoints with total movement distance of 0.340." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10099", "trajectory_length": 129, "key_frame_indices": [ 0, 114, 128 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10099.json" } }, { "id": "droid_cotrack_episode_515", "task": "Remove the toy from the pot and put it in the sink; Put the plush in the sink; Remove the pineapple plush toy from the pot and put it in the sink", "selected_step": 1, "image": [ "droid-cotrack/images/episode_515/frame_0000.jpg", "droid-cotrack/images/episode_515/frame_0217.jpg", "droid-cotrack/images/episode_515/frame_0254.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the toy from the pot and put it in the sink; Put the plush in the sink; Remove the pineapple plush toy from the pot and put it in the sink?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the toy from the pot and put it in the sink; Put the plush in the sink; Remove the pineapple plush toy from the pot and put it in the sink, execute the following phases: 1) Initial approach phase (start at [0.466, 0.098]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.748, -0.213]). The trajectory involves 255 precise waypoints with total movement distance of 0.774." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_515", "trajectory_length": 255, "key_frame_indices": [ 0, 217, 254 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_515.json" } }, { "id": "droid_cotrack_episode_1656", "task": "Push the top drawer closed; Close the open drawer; Close the top drawer of the white cabinet", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1656/frame_0000.jpg", "droid-cotrack/images/episode_1656/frame_0120.jpg", "droid-cotrack/images/episode_1656/frame_0167.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the top drawer closed; Close the open drawer; Close the top drawer of the white cabinet?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Push the top drawer closed; Close the open drawer; Close the top drawer of the white cabinet, execute the following phases: 1) Initial approach phase (start at [0.642, 0.285]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.639, 0.280]). The trajectory involves 168 precise waypoints with total movement distance of 0.079." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1656", "trajectory_length": 168, "key_frame_indices": [ 0, 120, 167 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1656.json" } }, { "id": "droid_cotrack_episode_4077", "task": "Put the black object on the counter", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4077/frame_0000.jpg", "droid-cotrack/images/episode_4077/frame_0112.jpg", "droid-cotrack/images/episode_4077/frame_0134.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the black object on the counter?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the black object on the counter, execute the following phases: 1) Initial approach phase (start at [0.477, 0.464]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.497, 0.502]). The trajectory involves 135 precise waypoints with total movement distance of 0.447." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4077", "trajectory_length": 135, "key_frame_indices": [ 0, 112, 134 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4077.json" } }, { "id": "droid_cotrack_episode_6434", "task": "Close the upper drawer; Close the top drawer of the file cabinet; Close the top drawer of the cabinet to the right.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6434/frame_0000.jpg", "droid-cotrack/images/episode_6434/frame_0073.jpg", "droid-cotrack/images/episode_6434/frame_0110.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the upper drawer; Close the top drawer of the file cabinet; Close the top drawer of the cabinet to the right.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the upper drawer; Close the top drawer of the file cabinet; Close the top drawer of the cabinet to the right., execute the following phases: 1) Initial approach phase (start at [0.684, 0.706]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.648, 0.685]). The trajectory involves 111 precise waypoints with total movement distance of 0.079." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6434", "trajectory_length": 111, "key_frame_indices": [ 0, 73, 110 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6434.json" } }, { "id": "droid_cotrack_episode_1816", "task": "Pick up the napkin and wipe the base of the coffee maker", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1816/frame_0000.jpg", "droid-cotrack/images/episode_1816/frame_0138.jpg", "droid-cotrack/images/episode_1816/frame_0382.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the napkin and wipe the base of the coffee maker?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Pick up the napkin and wipe the base of the coffee maker, execute the following phases: 1) Initial approach phase (start at [0.946, 0.221]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.662, 0.468]). The trajectory involves 383 precise waypoints with total movement distance of 3.834." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1816", "trajectory_length": 383, "key_frame_indices": [ 0, 138, 382 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1816.json" } }, { "id": "droid_cotrack_episode_6195", "task": "Use the towel to clean the plate; Use the towel on the table to wipe the plate; Wipe the plate", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6195/frame_0000.jpg", "droid-cotrack/images/episode_6195/frame_0244.jpg", "droid-cotrack/images/episode_6195/frame_0301.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the towel to clean the plate; Use the towel on the table to wipe the plate; Wipe the plate?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Use the towel to clean the plate; Use the towel on the table to wipe the plate; Wipe the plate, execute the following phases: 1) Initial approach phase (start at [0.497, 0.821]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.502, 0.685]). The trajectory involves 302 precise waypoints with total movement distance of 1.210." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6195", "trajectory_length": 302, "key_frame_indices": [ 0, 244, 301 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6195.json" } }, { "id": "droid_cotrack_episode_6142", "task": "Close the upper drawer of the cabinet to the left; Close the top drawer under the laptop; Fully close the open drawer", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6142/frame_0000.jpg", "droid-cotrack/images/episode_6142/frame_0055.jpg", "droid-cotrack/images/episode_6142/frame_0089.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the upper drawer of the cabinet to the left; Close the top drawer under the laptop; Fully close the open drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the upper drawer of the cabinet to the left; Close the top drawer under the laptop; Fully close the open drawer, execute the following phases: 1) Initial approach phase (start at [0.525, 0.485]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.296, 0.368]). The trajectory involves 90 precise waypoints with total movement distance of 0.317." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6142", "trajectory_length": 90, "key_frame_indices": [ 0, 55, 89 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6142.json" } }, { "id": "droid_cotrack_episode_6699", "task": "Pick the marker from the cup and put it on the counter; Pick up the pen from the cup and place it on the table; Remove the pen from the mug cup and place it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6699/frame_0000.jpg", "droid-cotrack/images/episode_6699/frame_0105.jpg", "droid-cotrack/images/episode_6699/frame_0144.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the marker from the cup and put it on the counter; Pick up the pen from the cup and place it on the table; Remove the pen from the mug cup and place it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the marker from the cup and put it on the counter; Pick up the pen from the cup and place it on the table; Remove the pen from the mug cup and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.245, 0.133]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.254, 0.140]). The trajectory involves 145 precise waypoints with total movement distance of 0.109." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6699", "trajectory_length": 145, "key_frame_indices": [ 0, 105, 144 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6699.json" } }, { "id": "droid_cotrack_episode_1129", "task": "Press the button on the bottom right corner; Press on the brown object; Press the button on the contraption on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1129/frame_0000.jpg", "droid-cotrack/images/episode_1129/frame_0243.jpg", "droid-cotrack/images/episode_1129/frame_0247.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Press the button on the bottom right corner; Press on the brown object; Press the button on the contraption on the table?" }, { "from": "gpt", "value": "To complete this button/switch activation: Press the button on the bottom right corner; Press on the brown object; Press the button on the contraption on the table, execute the following phases: 1) Initial approach phase (start at [0.599, 0.856]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.600, 0.853]). The trajectory involves 248 precise waypoints with total movement distance of 0.078." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1129", "trajectory_length": 248, "key_frame_indices": [ 0, 243, 247 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1129.json" } }, { "id": "droid_cotrack_episode_4350", "task": "Put the grape toy inside the pot in the sink; Put the green toy in the silver pot; Put the blue toy in the pot inside the sink", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4350/frame_0000.jpg", "droid-cotrack/images/episode_4350/frame_0162.jpg", "droid-cotrack/images/episode_4350/frame_0211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the grape toy inside the pot in the sink; Put the green toy in the silver pot; Put the blue toy in the pot inside the sink?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the grape toy inside the pot in the sink; Put the green toy in the silver pot; Put the blue toy in the pot inside the sink, execute the following phases: 1) Initial approach phase (start at [0.503, 0.567]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.628, 0.716]). The trajectory involves 212 precise waypoints with total movement distance of 0.426." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4350", "trajectory_length": 212, "key_frame_indices": [ 0, 162, 211 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4350.json" } }, { "id": "droid_cotrack_episode_10206", "task": "Open the coffee maker; Push the button at the top of the coffee machine; Press on top of the coffee maker", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10206/frame_0000.jpg", "droid-cotrack/images/episode_10206/frame_0122.jpg", "droid-cotrack/images/episode_10206/frame_0337.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the coffee maker; Push the button at the top of the coffee machine; Press on top of the coffee maker?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the coffee maker; Push the button at the top of the coffee machine; Press on top of the coffee maker, execute the following phases: 1) Initial approach phase (start at [0.580, 0.120]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.581, 0.120]). The trajectory involves 338 precise waypoints with total movement distance of 0.126." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10206", "trajectory_length": 338, "key_frame_indices": [ 0, 122, 337 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10206.json" } }, { "id": "droid_cotrack_episode_10057", "task": "Close the white container; Close the lid of the pink bottle; Close the white canister", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10057/frame_0000.jpg", "droid-cotrack/images/episode_10057/frame_0115.jpg", "droid-cotrack/images/episode_10057/frame_0139.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the white container; Close the lid of the pink bottle; Close the white canister?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the white container; Close the lid of the pink bottle; Close the white canister, execute the following phases: 1) Initial approach phase (start at [0.739, 0.141]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.823, 0.253]). The trajectory involves 140 precise waypoints with total movement distance of 0.244." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10057", "trajectory_length": 140, "key_frame_indices": [ 0, 115, 139 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10057.json" } }, { "id": "droid_cotrack_episode_1556", "task": "Put the marker in the bowl; Put the marker inside the bowl; Put the marker in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1556/frame_0000.jpg", "droid-cotrack/images/episode_1556/frame_0101.jpg", "droid-cotrack/images/episode_1556/frame_0104.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the bowl; Put the marker inside the bowl; Put the marker in the bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the marker in the bowl; Put the marker inside the bowl; Put the marker in the bowl, execute the following phases: 1) Initial approach phase (start at [0.473, 0.545]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.453, 0.536]). The trajectory involves 105 precise waypoints with total movement distance of 0.062." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1556", "trajectory_length": 105, "key_frame_indices": [ 0, 101, 104 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1556.json" } }, { "id": "droid_cotrack_episode_6081", "task": "Put the egg on the silver pan; Put the egg on the pan; Pick up the egg toy from table and put it on the pan", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6081/frame_0000.jpg", "droid-cotrack/images/episode_6081/frame_0207.jpg", "droid-cotrack/images/episode_6081/frame_0213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the egg on the silver pan; Put the egg on the pan; Pick up the egg toy from table and put it on the pan?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the egg on the silver pan; Put the egg on the pan; Pick up the egg toy from table and put it on the pan, execute the following phases: 1) Initial approach phase (start at [0.420, 0.495]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.440, 0.470]). The trajectory involves 214 precise waypoints with total movement distance of 0.090." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6081", "trajectory_length": 214, "key_frame_indices": [ 0, 207, 213 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6081.json" } }, { "id": "droid_cotrack_episode_1031", "task": "Moe the triangular block to the left; Put the yellow triangle block on the table; Pick up the yellow object and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1031/frame_0000.jpg", "droid-cotrack/images/episode_1031/frame_0044.jpg", "droid-cotrack/images/episode_1031/frame_0128.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Moe the triangular block to the left; Put the yellow triangle block on the table; Pick up the yellow object and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Moe the triangular block to the left; Put the yellow triangle block on the table; Pick up the yellow object and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.455, 0.602]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.458, 0.603]). The trajectory involves 129 precise waypoints with total movement distance of 0.049." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1031", "trajectory_length": 129, "key_frame_indices": [ 0, 44, 128 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1031.json" } }, { "id": "droid_cotrack_episode_883", "task": "Take the gloves off the tap", "selected_step": 1, "image": [ "droid-cotrack/images/episode_883/frame_0000.jpg", "droid-cotrack/images/episode_883/frame_0267.jpg", "droid-cotrack/images/episode_883/frame_0465.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the gloves off the tap?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Take the gloves off the tap, execute the following phases: 1) Initial approach phase (start at [0.447, 0.458]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.689, 0.743]). The trajectory involves 466 precise waypoints with total movement distance of 1.588." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_883", "trajectory_length": 466, "key_frame_indices": [ 0, 267, 465 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_883.json" } }, { "id": "droid_cotrack_episode_4050", "task": "Place the green block in the black bowl; Put the green cube inside the black bowl; Pick up the green block from the table and place it inside the black bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4050/frame_0000.jpg", "droid-cotrack/images/episode_4050/frame_0051.jpg", "droid-cotrack/images/episode_4050/frame_0147.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the green block in the black bowl; Put the green cube inside the black bowl; Pick up the green block from the table and place it inside the black bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Place the green block in the black bowl; Put the green cube inside the black bowl; Pick up the green block from the table and place it inside the black bowl, execute the following phases: 1) Initial approach phase (start at [0.519, 0.565]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.521, 0.560]). The trajectory involves 148 precise waypoints with total movement distance of 0.098." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4050", "trajectory_length": 148, "key_frame_indices": [ 0, 51, 147 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4050.json" } }, { "id": "droid_cotrack_episode_84", "task": "Put the white cloth on the seat of the chair; Place the towel on the seat of the chair; Remove the white cloth from the backrest of the chair", "selected_step": 1, "image": [ "droid-cotrack/images/episode_84/frame_0000.jpg", "droid-cotrack/images/episode_84/frame_0158.jpg", "droid-cotrack/images/episode_84/frame_0227.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the white cloth on the seat of the chair; Place the towel on the seat of the chair; Remove the white cloth from the backrest of the chair?" }, { "from": "gpt", "value": "To complete this repositioning: Put the white cloth on the seat of the chair; Place the towel on the seat of the chair; Remove the white cloth from the backrest of the chair, execute the following phases: 1) Initial approach phase (start at [0.547, 0.311]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.607, 0.688]). The trajectory involves 228 precise waypoints with total movement distance of 0.702." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_84", "trajectory_length": 228, "key_frame_indices": [ 0, 158, 227 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_84.json" } }, { "id": "droid_cotrack_episode_302", "task": "Close the top cabinet door; Close the left door on the upper cabinet; Close the door of the overhead cabinet", "selected_step": 1, "image": [ "droid-cotrack/images/episode_302/frame_0000.jpg", "droid-cotrack/images/episode_302/frame_0144.jpg", "droid-cotrack/images/episode_302/frame_0207.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the top cabinet door; Close the left door on the upper cabinet; Close the door of the overhead cabinet?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the top cabinet door; Close the left door on the upper cabinet; Close the door of the overhead cabinet, execute the following phases: 1) Initial approach phase (start at [0.512, 0.149]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.534, 0.196]). The trajectory involves 208 precise waypoints with total movement distance of 0.530." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_302", "trajectory_length": 208, "key_frame_indices": [ 0, 144, 207 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_302.json" } }, { "id": "droid_cotrack_episode_1470", "task": "Put the pink bowl inside the black bowl; Put the orange bowl in the black bowl; Put the pink bowl inside the black bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1470/frame_0000.jpg", "droid-cotrack/images/episode_1470/frame_0132.jpg", "droid-cotrack/images/episode_1470/frame_0170.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pink bowl inside the black bowl; Put the orange bowl in the black bowl; Put the pink bowl inside the black bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the pink bowl inside the black bowl; Put the orange bowl in the black bowl; Put the pink bowl inside the black bowl, execute the following phases: 1) Initial approach phase (start at [0.632, 0.569]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.583, 0.662]). The trajectory involves 171 precise waypoints with total movement distance of 0.375." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1470", "trajectory_length": 171, "key_frame_indices": [ 0, 132, 170 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1470.json" } }, { "id": "droid_cotrack_episode_1564", "task": "Pick up the paper towel and place it in the sink", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1564/frame_0000.jpg", "droid-cotrack/images/episode_1564/frame_0085.jpg", "droid-cotrack/images/episode_1564/frame_0148.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the paper towel and place it in the sink?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the paper towel and place it in the sink, execute the following phases: 1) Initial approach phase (start at [0.542, 0.574]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.526, 0.606]). The trajectory involves 149 precise waypoints with total movement distance of 0.158." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1564", "trajectory_length": 149, "key_frame_indices": [ 0, 85, 148 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1564.json" } }, { "id": "droid_cotrack_episode_6832", "task": "Move the silver bowl to the left.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6832/frame_0000.jpg", "droid-cotrack/images/episode_6832/frame_0345.jpg", "droid-cotrack/images/episode_6832/frame_0352.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the silver bowl to the left.?" }, { "from": "gpt", "value": "To complete this repositioning: Move the silver bowl to the left., execute the following phases: 1) Initial approach phase (start at [0.470, 0.370]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.421, 0.168]). The trajectory involves 353 precise waypoints with total movement distance of 0.876." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6832", "trajectory_length": 353, "key_frame_indices": [ 0, 345, 352 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6832.json" } }, { "id": "droid_cotrack_episode_1399", "task": "Take the small silver lid off the transparent object; Remove the lid from the bottle and put it on the table; Remove the stopper from the crystal column", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1399/frame_0000.jpg", "droid-cotrack/images/episode_1399/frame_0176.jpg", "droid-cotrack/images/episode_1399/frame_0195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the small silver lid off the transparent object; Remove the lid from the bottle and put it on the table; Remove the stopper from the crystal column?" }, { "from": "gpt", "value": "To complete this repositioning: Take the small silver lid off the transparent object; Remove the lid from the bottle and put it on the table; Remove the stopper from the crystal column, execute the following phases: 1) Initial approach phase (start at [0.630, 0.608]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.630, 0.612]). The trajectory involves 196 precise waypoints with total movement distance of 0.122." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1399", "trajectory_length": 196, "key_frame_indices": [ 0, 176, 195 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1399.json" } }, { "id": "droid_cotrack_episode_1302", "task": "Move the faucet nozzle to the center; Slide the faucet spout to the right; Turn the tap to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1302/frame_0000.jpg", "droid-cotrack/images/episode_1302/frame_0133.jpg", "droid-cotrack/images/episode_1302/frame_0200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the faucet nozzle to the center; Slide the faucet spout to the right; Turn the tap to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the faucet nozzle to the center; Slide the faucet spout to the right; Turn the tap to the left, execute the following phases: 1) Initial approach phase (start at [0.835, 0.563]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.706, 0.388]). The trajectory involves 201 precise waypoints with total movement distance of 0.442." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1302", "trajectory_length": 201, "key_frame_indices": [ 0, 133, 200 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1302.json" } }, { "id": "droid_cotrack_episode_2018", "task": "Cover the pot with the clear lid; Cover the pot; Pick up the lid and cover the pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2018/frame_0000.jpg", "droid-cotrack/images/episode_2018/frame_0098.jpg", "droid-cotrack/images/episode_2018/frame_0184.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Cover the pot with the clear lid; Cover the pot; Pick up the lid and cover the pot?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Cover the pot with the clear lid; Cover the pot; Pick up the lid and cover the pot, execute the following phases: 1) Initial approach phase (start at [0.388, 0.964]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.389, 0.970]). The trajectory involves 185 precise waypoints with total movement distance of 0.080." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2018", "trajectory_length": 185, "key_frame_indices": [ 0, 98, 184 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2018.json" } }, { "id": "droid_cotrack_episode_1808", "task": "Place the shorter glass bottle between the cup and the whiteboard; Move the small glass object to the left; Move the small shaker to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1808/frame_0000.jpg", "droid-cotrack/images/episode_1808/frame_0131.jpg", "droid-cotrack/images/episode_1808/frame_0192.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the shorter glass bottle between the cup and the whiteboard; Move the small glass object to the left; Move the small shaker to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Place the shorter glass bottle between the cup and the whiteboard; Move the small glass object to the left; Move the small shaker to the left, execute the following phases: 1) Initial approach phase (start at [0.682, 0.574]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.567, 0.614]). The trajectory involves 193 precise waypoints with total movement distance of 0.295." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1808", "trajectory_length": 193, "key_frame_indices": [ 0, 131, 192 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1808.json" } }, { "id": "droid_cotrack_episode_10177", "task": "Place the white towel on the tripod.; Hang the cloth on the black stand; Hang the cloth on the stand", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10177/frame_0000.jpg", "droid-cotrack/images/episode_10177/frame_0086.jpg", "droid-cotrack/images/episode_10177/frame_0164.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the white towel on the tripod.; Hang the cloth on the black stand; Hang the cloth on the stand?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Place the white towel on the tripod.; Hang the cloth on the black stand; Hang the cloth on the stand, execute the following phases: 1) Initial approach phase (start at [0.298, 0.589]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.431, 0.347]). The trajectory involves 165 precise waypoints with total movement distance of 0.800." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10177", "trajectory_length": 165, "key_frame_indices": [ 0, 86, 164 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10177.json" } }, { "id": "droid_cotrack_episode_4192", "task": "Pick the marker and put it in the bowl; Pick the marker and put it in the bowl; Pick up the marker from the table and put it in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4192/frame_0000.jpg", "droid-cotrack/images/episode_4192/frame_0164.jpg", "droid-cotrack/images/episode_4192/frame_0180.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the marker and put it in the bowl; Pick the marker and put it in the bowl; Pick up the marker from the table and put it in the bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the marker and put it in the bowl; Pick the marker and put it in the bowl; Pick up the marker from the table and put it in the bowl, execute the following phases: 1) Initial approach phase (start at [0.550, 0.512]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.550, 0.651]). The trajectory involves 181 precise waypoints with total movement distance of 0.551." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4192", "trajectory_length": 181, "key_frame_indices": [ 0, 164, 180 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4192.json" } }, { "id": "droid_cotrack_episode_2093", "task": "Move the marker slightly to the left; Move the marker to the left; Move the marker slightly to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2093/frame_0000.jpg", "droid-cotrack/images/episode_2093/frame_0067.jpg", "droid-cotrack/images/episode_2093/frame_0099.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the marker slightly to the left; Move the marker to the left; Move the marker slightly to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the marker slightly to the left; Move the marker to the left; Move the marker slightly to the left, execute the following phases: 1) Initial approach phase (start at [0.549, 0.644]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.550, 0.586]). The trajectory involves 100 precise waypoints with total movement distance of 0.165." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2093", "trajectory_length": 100, "key_frame_indices": [ 0, 67, 99 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2093.json" } }, { "id": "droid_cotrack_episode_6111", "task": "Close the top drawer of the white file cabinet; Push the open drawer closed; Close the top drawer of the left cabinet", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6111/frame_0000.jpg", "droid-cotrack/images/episode_6111/frame_0060.jpg", "droid-cotrack/images/episode_6111/frame_0079.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the top drawer of the white file cabinet; Push the open drawer closed; Close the top drawer of the left cabinet?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the top drawer of the white file cabinet; Push the open drawer closed; Close the top drawer of the left cabinet, execute the following phases: 1) Initial approach phase (start at [0.484, 0.604]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.387, 0.600]). The trajectory involves 80 precise waypoints with total movement distance of 0.121." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6111", "trajectory_length": 80, "key_frame_indices": [ 0, 60, 79 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6111.json" } }, { "id": "droid_cotrack_episode_2118", "task": "Put the fork on the mat on the table; Put the fork on the mat on the table; Put the fork on the mat", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2118/frame_0000.jpg", "droid-cotrack/images/episode_2118/frame_0172.jpg", "droid-cotrack/images/episode_2118/frame_0182.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the fork on the mat on the table; Put the fork on the mat on the table; Put the fork on the mat?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the fork on the mat on the table; Put the fork on the mat on the table; Put the fork on the mat, execute the following phases: 1) Initial approach phase (start at [0.541, 0.594]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.544, 0.594]). The trajectory involves 183 precise waypoints with total movement distance of 0.088." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2118", "trajectory_length": 183, "key_frame_indices": [ 0, 172, 182 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2118.json" } }, { "id": "droid_cotrack_episode_10067", "task": "Move the jar to the right; Move the jug to the right; Move the cup to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10067/frame_0000.jpg", "droid-cotrack/images/episode_10067/frame_0237.jpg", "droid-cotrack/images/episode_10067/frame_0296.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the jar to the right; Move the jug to the right; Move the cup to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the jar to the right; Move the jug to the right; Move the cup to the right, execute the following phases: 1) Initial approach phase (start at [0.314, 0.300]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.314, 0.300]). The trajectory involves 297 precise waypoints with total movement distance of 0.069." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10067", "trajectory_length": 297, "key_frame_indices": [ 0, 237, 296 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10067.json" } }, { "id": "droid_cotrack_episode_621", "task": "Stretch the rope on the platform; Put the white rope on the black board; Pick up the rope and align it along the object", "selected_step": 1, "image": [ "droid-cotrack/images/episode_621/frame_0000.jpg", "droid-cotrack/images/episode_621/frame_0214.jpg", "droid-cotrack/images/episode_621/frame_0239.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Stretch the rope on the platform; Put the white rope on the black board; Pick up the rope and align it along the object?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Stretch the rope on the platform; Put the white rope on the black board; Pick up the rope and align it along the object, execute the following phases: 1) Initial approach phase (start at [0.551, 0.748]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.506, 0.516]). The trajectory involves 240 precise waypoints with total movement distance of 0.596." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_621", "trajectory_length": 240, "key_frame_indices": [ 0, 214, 239 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_621.json" } }, { "id": "droid_cotrack_episode_6280", "task": "Put the silver pot into the sink.; Put the silver object in the cooker, in the sink; Take the silver inner pot out of the rice cooker and place it in the sink.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6280/frame_0000.jpg", "droid-cotrack/images/episode_6280/frame_0352.jpg", "droid-cotrack/images/episode_6280/frame_0535.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the silver pot into the sink.; Put the silver object in the cooker, in the sink; Take the silver inner pot out of the rice cooker and place it in the sink.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the silver pot into the sink.; Put the silver object in the cooker, in the sink; Take the silver inner pot out of the rice cooker and place it in the sink., execute the following phases: 1) Initial approach phase (start at [0.322, 0.595]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.323, 0.609]). The trajectory involves 536 precise waypoints with total movement distance of 0.821." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6280", "trajectory_length": 536, "key_frame_indices": [ 0, 352, 535 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6280.json" } }, { "id": "droid_cotrack_episode_1694", "task": "Remove the bowl from the cupboard", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1694/frame_0000.jpg", "droid-cotrack/images/episode_1694/frame_0104.jpg", "droid-cotrack/images/episode_1694/frame_0175.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the bowl from the cupboard?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the bowl from the cupboard, execute the following phases: 1) Initial approach phase (start at [0.514, 0.550]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.548, 0.884]). The trajectory involves 176 precise waypoints with total movement distance of 0.583." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1694", "trajectory_length": 176, "key_frame_indices": [ 0, 104, 175 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1694.json" } }, { "id": "droid_cotrack_episode_4342", "task": "Pick up the spoon, scoop some of the contents from the blue bowl and empty them into the cup closest to the blue bowl and then place the spoon back down", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4342/frame_0000.jpg", "droid-cotrack/images/episode_4342/frame_0428.jpg", "droid-cotrack/images/episode_4342/frame_0491.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the spoon, scoop some of the contents from the blue bowl and empty them into the cup closest to the blue bowl and then place the spoon back down?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the spoon, scoop some of the contents from the blue bowl and empty them into the cup closest to the blue bowl and then place the spoon back down, execute the following phases: 1) Initial approach phase (start at [0.475, 0.325]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.583, 0.453]). The trajectory involves 492 precise waypoints with total movement distance of 0.575." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4342", "trajectory_length": 492, "key_frame_indices": [ 0, 428, 491 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4342.json" } }, { "id": "droid_cotrack_episode_4409", "task": "Pick up the tissue from the bottle and put it on the table; Remove a tissue from the bottle; Take a tissue out of the bottle and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4409/frame_0000.jpg", "droid-cotrack/images/episode_4409/frame_0112.jpg", "droid-cotrack/images/episode_4409/frame_0136.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the tissue from the bottle and put it on the table; Remove a tissue from the bottle; Take a tissue out of the bottle and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the tissue from the bottle and put it on the table; Remove a tissue from the bottle; Take a tissue out of the bottle and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.795, 0.390]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.858, 0.136]). The trajectory involves 137 precise waypoints with total movement distance of 0.705." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4409", "trajectory_length": 137, "key_frame_indices": [ 0, 112, 136 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4409.json" } }, { "id": "droid_cotrack_episode_6342", "task": "Open the bin; Open the lid of the bin; Open the black bin on the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6342/frame_0000.jpg", "droid-cotrack/images/episode_6342/frame_0200.jpg", "droid-cotrack/images/episode_6342/frame_0393.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the bin; Open the lid of the bin; Open the black bin on the left?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the bin; Open the lid of the bin; Open the black bin on the left, execute the following phases: 1) Initial approach phase (start at [0.884, 0.608]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.892, 0.625]). The trajectory involves 394 precise waypoints with total movement distance of 0.348." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6342", "trajectory_length": 394, "key_frame_indices": [ 0, 200, 393 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6342.json" } }, { "id": "droid_cotrack_episode_4275", "task": "Close the top drawer; Close the drawer fully; Close the kitchen unit drawer", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4275/frame_0000.jpg", "droid-cotrack/images/episode_4275/frame_0125.jpg", "droid-cotrack/images/episode_4275/frame_0140.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the top drawer; Close the drawer fully; Close the kitchen unit drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the top drawer; Close the drawer fully; Close the kitchen unit drawer, execute the following phases: 1) Initial approach phase (start at [0.774, 0.545]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.723, 0.409]). The trajectory involves 141 precise waypoints with total movement distance of 0.257." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4275", "trajectory_length": 141, "key_frame_indices": [ 0, 125, 140 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4275.json" } }, { "id": "droid_cotrack_episode_1833", "task": "Move the green plushie to the left of the orange plushie; Shift the green plushie to the bottom right part of the storage bin; Move the green plush toy to the left of the yellow plush toy", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1833/frame_0000.jpg", "droid-cotrack/images/episode_1833/frame_0090.jpg", "droid-cotrack/images/episode_1833/frame_0122.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the green plushie to the left of the orange plushie; Shift the green plushie to the bottom right part of the storage bin; Move the green plush toy to the left of the yellow plush toy?" }, { "from": "gpt", "value": "To complete this repositioning: Move the green plushie to the left of the orange plushie; Shift the green plushie to the bottom right part of the storage bin; Move the green plush toy to the left of the yellow plush toy, execute the following phases: 1) Initial approach phase (start at [0.495, 0.585]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.541, 0.701]). The trajectory involves 123 precise waypoints with total movement distance of 0.249." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1833", "trajectory_length": 123, "key_frame_indices": [ 0, 90, 122 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1833.json" } }, { "id": "droid_cotrack_episode_2088", "task": "Remove the clothing from the armrest of the chair and place it on the sofa; Move the pair of shorts from the chair to the couch; Move the shirt on the armchair to the couch", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2088/frame_0000.jpg", "droid-cotrack/images/episode_2088/frame_0103.jpg", "droid-cotrack/images/episode_2088/frame_0125.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the clothing from the armrest of the chair and place it on the sofa; Move the pair of shorts from the chair to the couch; Move the shirt on the armchair to the couch?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the clothing from the armrest of the chair and place it on the sofa; Move the pair of shorts from the chair to the couch; Move the shirt on the armchair to the couch, execute the following phases: 1) Initial approach phase (start at [0.660, 0.600]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.655, 0.602]). The trajectory involves 126 precise waypoints with total movement distance of 0.102." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2088", "trajectory_length": 126, "key_frame_indices": [ 0, 103, 125 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2088.json" } }, { "id": "droid_cotrack_episode_4559", "task": "Remove the small block from the stack", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4559/frame_0000.jpg", "droid-cotrack/images/episode_4559/frame_0040.jpg", "droid-cotrack/images/episode_4559/frame_0123.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the small block from the stack?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the small block from the stack, execute the following phases: 1) Initial approach phase (start at [0.403, 0.229]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.374, 0.457]). The trajectory involves 124 precise waypoints with total movement distance of 0.633." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4559", "trajectory_length": 124, "key_frame_indices": [ 0, 40, 123 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4559.json" } }, { "id": "droid_cotrack_episode_334", "task": "Pick up the marker and put it in the cup; Place the blue marker inside the white and green mug; Pick the pen and put it in the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_334/frame_0000.jpg", "droid-cotrack/images/episode_334/frame_0084.jpg", "droid-cotrack/images/episode_334/frame_0123.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the marker and put it in the cup; Place the blue marker inside the white and green mug; Pick the pen and put it in the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the marker and put it in the cup; Place the blue marker inside the white and green mug; Pick the pen and put it in the cup, execute the following phases: 1) Initial approach phase (start at [0.674, 0.805]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.515, 0.542]). The trajectory involves 124 precise waypoints with total movement distance of 0.628." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_334", "trajectory_length": 124, "key_frame_indices": [ 0, 84, 123 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_334.json" } }, { "id": "droid_cotrack_episode_1714", "task": "Push down on a button on the black mouse.; Left click the mouse; Left-click on the mouse", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1714/frame_0000.jpg", "droid-cotrack/images/episode_1714/frame_0080.jpg", "droid-cotrack/images/episode_1714/frame_0109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push down on a button on the black mouse.; Left click the mouse; Left-click on the mouse?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push down on a button on the black mouse.; Left click the mouse; Left-click on the mouse, execute the following phases: 1) Initial approach phase (start at [0.616, 0.847]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.609, 0.850]). The trajectory involves 110 precise waypoints with total movement distance of 0.045." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1714", "trajectory_length": 110, "key_frame_indices": [ 0, 80, 109 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1714.json" } }, { "id": "droid_cotrack_episode_54", "task": "Pour the contents of the left bowl into the right bowl; Pour the contents of the bowl on the left into the one on the right; Pick up the silver bowl with object on it and pour the object into the empty silver bowl to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_54/frame_0000.jpg", "droid-cotrack/images/episode_54/frame_0362.jpg", "droid-cotrack/images/episode_54/frame_0636.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour the contents of the left bowl into the right bowl; Pour the contents of the bowl on the left into the one on the right; Pick up the silver bowl with object on it and pour the object into the empty silver bowl to the right?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Pour the contents of the left bowl into the right bowl; Pour the contents of the bowl on the left into the one on the right; Pick up the silver bowl with object on it and pour the object into the empty silver bowl to the right, execute the following phases: 1) Initial approach phase (start at [0.444, 0.624]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.469, 0.632]). The trajectory involves 637 precise waypoints with total movement distance of 0.363." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_54", "trajectory_length": 637, "key_frame_indices": [ 0, 362, 636 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_54.json" } }, { "id": "droid_cotrack_episode_6460", "task": "Take the metal can out of the kitchen sink", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6460/frame_0000.jpg", "droid-cotrack/images/episode_6460/frame_0147.jpg", "droid-cotrack/images/episode_6460/frame_0199.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the metal can out of the kitchen sink?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Take the metal can out of the kitchen sink, execute the following phases: 1) Initial approach phase (start at [0.514, 0.907]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.356, 0.755]). The trajectory involves 200 precise waypoints with total movement distance of 0.388." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6460", "trajectory_length": 200, "key_frame_indices": [ 0, 147, 199 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6460.json" } }, { "id": "droid_cotrack_episode_1499", "task": "Remove the lid from the glass jug", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1499/frame_0000.jpg", "droid-cotrack/images/episode_1499/frame_0127.jpg", "droid-cotrack/images/episode_1499/frame_0208.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the lid from the glass jug?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the lid from the glass jug, execute the following phases: 1) Initial approach phase (start at [0.444, 0.416]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.440, 0.428]). The trajectory involves 209 precise waypoints with total movement distance of 0.097." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1499", "trajectory_length": 209, "key_frame_indices": [ 0, 127, 208 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1499.json" } }, { "id": "droid_cotrack_episode_1026", "task": "Put the book on the shelf", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1026/frame_0000.jpg", "droid-cotrack/images/episode_1026/frame_0161.jpg", "droid-cotrack/images/episode_1026/frame_0265.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the book on the shelf?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the book on the shelf, execute the following phases: 1) Initial approach phase (start at [0.310, 0.539]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.319, 0.399]). The trajectory involves 266 precise waypoints with total movement distance of 0.779." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1026", "trajectory_length": 266, "key_frame_indices": [ 0, 161, 265 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1026.json" } }, { "id": "droid_cotrack_episode_1303", "task": "Remove the bottle from the box and put it on the table; Remove the jar from the box and put it on the table; Remove the bottle from the dark blue case and place it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1303/frame_0000.jpg", "droid-cotrack/images/episode_1303/frame_0134.jpg", "droid-cotrack/images/episode_1303/frame_0211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the bottle from the box and put it on the table; Remove the jar from the box and put it on the table; Remove the bottle from the dark blue case and place it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the bottle from the box and put it on the table; Remove the jar from the box and put it on the table; Remove the bottle from the dark blue case and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.595, 0.315]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.490, 0.227]). The trajectory involves 212 precise waypoints with total movement distance of 1.020." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1303", "trajectory_length": 212, "key_frame_indices": [ 0, 134, 211 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1303.json" } }, { "id": "droid_cotrack_episode_1255", "task": "Place the blue marker inside the yellow mug; Pick up the marker and put it in the cup; Put the marker inside the mug cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1255/frame_0000.jpg", "droid-cotrack/images/episode_1255/frame_0254.jpg", "droid-cotrack/images/episode_1255/frame_0315.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the blue marker inside the yellow mug; Pick up the marker and put it in the cup; Put the marker inside the mug cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Place the blue marker inside the yellow mug; Pick up the marker and put it in the cup; Put the marker inside the mug cup, execute the following phases: 1) Initial approach phase (start at [0.517, 0.518]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.605, 0.431]). The trajectory involves 316 precise waypoints with total movement distance of 1.538." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1255", "trajectory_length": 316, "key_frame_indices": [ 0, 254, 315 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1255.json" } }, { "id": "droid_cotrack_episode_10106", "task": "Put a yellow item in the cube", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10106/frame_0000.jpg", "droid-cotrack/images/episode_10106/frame_0149.jpg", "droid-cotrack/images/episode_10106/frame_0257.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put a yellow item in the cube?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put a yellow item in the cube, execute the following phases: 1) Initial approach phase (start at [0.567, 0.812]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.562, 0.792]). The trajectory involves 258 precise waypoints with total movement distance of 0.127." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10106", "trajectory_length": 258, "key_frame_indices": [ 0, 149, 257 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10106.json" } }, { "id": "droid_cotrack_episode_4408", "task": "Pick up the headphones and place them at the edge of the table; Move the headphones to the right; Move the headphones forward", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4408/frame_0000.jpg", "droid-cotrack/images/episode_4408/frame_0079.jpg", "droid-cotrack/images/episode_4408/frame_0109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the headphones and place them at the edge of the table; Move the headphones to the right; Move the headphones forward?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the headphones and place them at the edge of the table; Move the headphones to the right; Move the headphones forward, execute the following phases: 1) Initial approach phase (start at [0.658, 0.632]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.802, 0.664]). The trajectory involves 110 precise waypoints with total movement distance of 0.599." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4408", "trajectory_length": 110, "key_frame_indices": [ 0, 79, 109 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4408.json" } }, { "id": "droid_cotrack_episode_714", "task": "Set the rope along the middle of the black object; Align the rope with the groove on the object; Straighten out the rope along the length of the black object", "selected_step": 1, "image": [ "droid-cotrack/images/episode_714/frame_0000.jpg", "droid-cotrack/images/episode_714/frame_0158.jpg", "droid-cotrack/images/episode_714/frame_0305.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Set the rope along the middle of the black object; Align the rope with the groove on the object; Straighten out the rope along the length of the black object?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Set the rope along the middle of the black object; Align the rope with the groove on the object; Straighten out the rope along the length of the black object, execute the following phases: 1) Initial approach phase (start at [0.458, 0.546]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.461, 0.542]). The trajectory involves 306 precise waypoints with total movement distance of 0.219." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_714", "trajectory_length": 306, "key_frame_indices": [ 0, 158, 305 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_714.json" } }, { "id": "droid_cotrack_episode_1749", "task": "Take the pen from the white cup and put it on the table; Remove the pen from the mug cup and place it on the counter top; Remove the pen from the mug and put it on the counter", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1749/frame_0000.jpg", "droid-cotrack/images/episode_1749/frame_0101.jpg", "droid-cotrack/images/episode_1749/frame_0126.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the pen from the white cup and put it on the table; Remove the pen from the mug cup and place it on the counter top; Remove the pen from the mug and put it on the counter?" }, { "from": "gpt", "value": "To complete this repositioning: Take the pen from the white cup and put it on the table; Remove the pen from the mug cup and place it on the counter top; Remove the pen from the mug and put it on the counter, execute the following phases: 1) Initial approach phase (start at [0.313, 0.390]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.350, 0.460]). The trajectory involves 127 precise waypoints with total movement distance of 0.471." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1749", "trajectory_length": 127, "key_frame_indices": [ 0, 101, 126 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1749.json" } }, { "id": "droid_cotrack_episode_10071", "task": "Move the bowl to the left; Move the bowl; Remove the marker from the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10071/frame_0000.jpg", "droid-cotrack/images/episode_10071/frame_0062.jpg", "droid-cotrack/images/episode_10071/frame_0085.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bowl to the left; Move the bowl; Remove the marker from the bowl?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bowl to the left; Move the bowl; Remove the marker from the bowl, execute the following phases: 1) Initial approach phase (start at [0.679, 0.510]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.608, 0.408]). The trajectory involves 86 precise waypoints with total movement distance of 0.202." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10071", "trajectory_length": 86, "key_frame_indices": [ 0, 62, 85 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10071.json" } }, { "id": "droid_cotrack_episode_10172", "task": "Put a spoon in the right compartment of the tray; Pick up a silver spoon and place it in the drawer; Pick the silver spoon on the sofa and put it in the tray", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10172/frame_0000.jpg", "droid-cotrack/images/episode_10172/frame_0001.jpg", "droid-cotrack/images/episode_10172/frame_0207.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put a spoon in the right compartment of the tray; Pick up a silver spoon and place it in the drawer; Pick the silver spoon on the sofa and put it in the tray?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put a spoon in the right compartment of the tray; Pick up a silver spoon and place it in the drawer; Pick the silver spoon on the sofa and put it in the tray, execute the following phases: 1) Initial approach phase (start at [0.636, 0.719]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.504, 0.843]). The trajectory involves 208 precise waypoints with total movement distance of 0.781." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10172", "trajectory_length": 208, "key_frame_indices": [ 0, 1, 207 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10172.json" } }, { "id": "droid_cotrack_episode_1235", "task": "Turn the right light switch on; Turn on the kitchen lights; Flip the switch on the wall.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1235/frame_0000.jpg", "droid-cotrack/images/episode_1235/frame_0135.jpg", "droid-cotrack/images/episode_1235/frame_0152.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn the right light switch on; Turn on the kitchen lights; Flip the switch on the wall.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Turn the right light switch on; Turn on the kitchen lights; Flip the switch on the wall., execute the following phases: 1) Initial approach phase (start at [0.589, 0.153]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.588, 0.149]). The trajectory involves 153 precise waypoints with total movement distance of 0.170." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1235", "trajectory_length": 153, "key_frame_indices": [ 0, 135, 152 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1235.json" } }, { "id": "droid_cotrack_episode_616", "task": "Put the white bowl in the cup closest to you, then put the basketball on the brown tape; Pick up the white ball and put it in the cup on the right and then pick up the bigger ball and put it on the gray masking tape; Put the egg in the cup, then put the basketball on the brown tape", "selected_step": 1, "image": [ "droid-cotrack/images/episode_616/frame_0000.jpg", "droid-cotrack/images/episode_616/frame_0399.jpg", "droid-cotrack/images/episode_616/frame_0466.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the white bowl in the cup closest to you, then put the basketball on the brown tape; Pick up the white ball and put it in the cup on the right and then pick up the bigger ball and put it on the gray masking tape; Put the egg in the cup, then put the basketball on the brown tape?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the white bowl in the cup closest to you, then put the basketball on the brown tape; Pick up the white ball and put it in the cup on the right and then pick up the bigger ball and put it on the gray masking tape; Put the egg in the cup, then put the basketball on the brown tape, execute the following phases: 1) Initial approach phase (start at [0.451, 0.717]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.304, 0.691]). The trajectory involves 467 precise waypoints with total movement distance of 0.575." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_616", "trajectory_length": 467, "key_frame_indices": [ 0, 399, 466 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_616.json" } }, { "id": "droid_cotrack_episode_10043", "task": "Pick the marker from the cup and put it on the table; Remove the pen from the cup; Remove the pen from the cup and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10043/frame_0000.jpg", "droid-cotrack/images/episode_10043/frame_0092.jpg", "droid-cotrack/images/episode_10043/frame_0125.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the marker from the cup and put it on the table; Remove the pen from the cup; Remove the pen from the cup and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the marker from the cup and put it on the table; Remove the pen from the cup; Remove the pen from the cup and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.406, 0.339]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.407, 0.339]). The trajectory involves 126 precise waypoints with total movement distance of 0.026." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10043", "trajectory_length": 126, "key_frame_indices": [ 0, 92, 125 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10043.json" } }, { "id": "droid_cotrack_episode_1663", "task": "Place the black t-shirt on the table; Put the black t-shirt on the table; Remove the black t-shirt from the black stand and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1663/frame_0000.jpg", "droid-cotrack/images/episode_1663/frame_0072.jpg", "droid-cotrack/images/episode_1663/frame_0141.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the black t-shirt on the table; Put the black t-shirt on the table; Remove the black t-shirt from the black stand and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Place the black t-shirt on the table; Put the black t-shirt on the table; Remove the black t-shirt from the black stand and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.525, 0.171]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.376, 0.351]). The trajectory involves 142 precise waypoints with total movement distance of 0.824." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1663", "trajectory_length": 142, "key_frame_indices": [ 0, 72, 141 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1663.json" } }, { "id": "droid_cotrack_episode_1946", "task": "Put the marker in the pot; Put the marker inside the pot; Put the marker in the pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1946/frame_0000.jpg", "droid-cotrack/images/episode_1946/frame_0067.jpg", "droid-cotrack/images/episode_1946/frame_0137.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the pot; Put the marker inside the pot; Put the marker in the pot?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the marker in the pot; Put the marker inside the pot; Put the marker in the pot, execute the following phases: 1) Initial approach phase (start at [0.480, 0.437]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.477, 0.421]). The trajectory involves 138 precise waypoints with total movement distance of 0.230." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1946", "trajectory_length": 138, "key_frame_indices": [ 0, 67, 137 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1946.json" } }, { "id": "droid_cotrack_episode_6506", "task": "Cover the pot with the clear lid; Pick up the lid from the table and put it on the pot; Put the glass lid on the pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6506/frame_0000.jpg", "droid-cotrack/images/episode_6506/frame_0081.jpg", "droid-cotrack/images/episode_6506/frame_0174.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Cover the pot with the clear lid; Pick up the lid from the table and put it on the pot; Put the glass lid on the pot?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Cover the pot with the clear lid; Pick up the lid from the table and put it on the pot; Put the glass lid on the pot, execute the following phases: 1) Initial approach phase (start at [0.595, 0.478]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.493, 0.288]). The trajectory involves 175 precise waypoints with total movement distance of 0.478." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6506", "trajectory_length": 175, "key_frame_indices": [ 0, 81, 174 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6506.json" } }, { "id": "droid_cotrack_episode_1353", "task": "Remove the black object from the box.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1353/frame_0000.jpg", "droid-cotrack/images/episode_1353/frame_0128.jpg", "droid-cotrack/images/episode_1353/frame_0132.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the black object from the box.?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the black object from the box., execute the following phases: 1) Initial approach phase (start at [0.563, 0.538]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.596, 0.806]). The trajectory involves 133 precise waypoints with total movement distance of 0.575." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1353", "trajectory_length": 133, "key_frame_indices": [ 0, 128, 132 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1353.json" } }, { "id": "droid_cotrack_episode_1577", "task": "Move the curtain to the left; Draw the curtain open; Push the grey curtain to the left.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1577/frame_0000.jpg", "droid-cotrack/images/episode_1577/frame_0164.jpg", "droid-cotrack/images/episode_1577/frame_0217.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the curtain to the left; Draw the curtain open; Push the grey curtain to the left.?" }, { "from": "gpt", "value": "To complete this repositioning: Move the curtain to the left; Draw the curtain open; Push the grey curtain to the left., execute the following phases: 1) Initial approach phase (start at [0.622, 0.411]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.443, 0.367]). The trajectory involves 218 precise waypoints with total movement distance of 1.038." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1577", "trajectory_length": 218, "key_frame_indices": [ 0, 164, 217 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1577.json" } }, { "id": "droid_cotrack_episode_6829", "task": "Put the water bottle on the counter in the box; Put one water bottle inside the white box.; Put a bottle in the box", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6829/frame_0000.jpg", "droid-cotrack/images/episode_6829/frame_0111.jpg", "droid-cotrack/images/episode_6829/frame_0229.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the water bottle on the counter in the box; Put one water bottle inside the white box.; Put a bottle in the box?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the water bottle on the counter in the box; Put one water bottle inside the white box.; Put a bottle in the box, execute the following phases: 1) Initial approach phase (start at [0.312, 0.570]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.161, 0.481]). The trajectory involves 230 precise waypoints with total movement distance of 1.222." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6829", "trajectory_length": 230, "key_frame_indices": [ 0, 111, 229 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6829.json" } }, { "id": "droid_cotrack_episode_10166", "task": "Remove the marker from the grey bowl; Put the pen on the table; Put the marker on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10166/frame_0000.jpg", "droid-cotrack/images/episode_10166/frame_0053.jpg", "droid-cotrack/images/episode_10166/frame_0171.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker from the grey bowl; Put the pen on the table; Put the marker on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the marker from the grey bowl; Put the pen on the table; Put the marker on the table, execute the following phases: 1) Initial approach phase (start at [0.565, 0.680]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.566, 0.679]). The trajectory involves 172 precise waypoints with total movement distance of 0.070." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10166", "trajectory_length": 172, "key_frame_indices": [ 0, 53, 171 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10166.json" } }, { "id": "droid_cotrack_episode_1734", "task": "Put the rope in the groove on the black object; Put the rope on the wooden platform; Put the rope along the center of the black object", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1734/frame_0000.jpg", "droid-cotrack/images/episode_1734/frame_0338.jpg", "droid-cotrack/images/episode_1734/frame_0533.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the rope in the groove on the black object; Put the rope on the wooden platform; Put the rope along the center of the black object?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the rope in the groove on the black object; Put the rope on the wooden platform; Put the rope along the center of the black object, execute the following phases: 1) Initial approach phase (start at [0.276, 0.396]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.275, 0.391]). The trajectory involves 534 precise waypoints with total movement distance of 0.360." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1734", "trajectory_length": 534, "key_frame_indices": [ 0, 338, 533 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1734.json" } }, { "id": "droid_cotrack_episode_6530", "task": "Put the white small sponge closer to the towel; Move the white object to the center of the desk; Get the plush ball from the top right corner of the table and place it beside the blue towel", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6530/frame_0000.jpg", "droid-cotrack/images/episode_6530/frame_0106.jpg", "droid-cotrack/images/episode_6530/frame_0163.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the white small sponge closer to the towel; Move the white object to the center of the desk; Get the plush ball from the top right corner of the table and place it beside the blue towel?" }, { "from": "gpt", "value": "To complete this repositioning: Put the white small sponge closer to the towel; Move the white object to the center of the desk; Get the plush ball from the top right corner of the table and place it beside the blue towel, execute the following phases: 1) Initial approach phase (start at [0.809, 0.614]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.796, 0.593]). The trajectory involves 164 precise waypoints with total movement distance of 0.175." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6530", "trajectory_length": 164, "key_frame_indices": [ 0, 106, 163 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6530.json" } }, { "id": "droid_cotrack_episode_1865", "task": "Turn the switch of the extension cord on; Turn on the switch on the adapter; Turn on the extension cable", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1865/frame_0000.jpg", "droid-cotrack/images/episode_1865/frame_0170.jpg", "droid-cotrack/images/episode_1865/frame_0201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn the switch of the extension cord on; Turn on the switch on the adapter; Turn on the extension cable?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Turn the switch of the extension cord on; Turn on the switch on the adapter; Turn on the extension cable, execute the following phases: 1) Initial approach phase (start at [0.988, 0.723]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.996, 0.714]). The trajectory involves 202 precise waypoints with total movement distance of 0.097." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1865", "trajectory_length": 202, "key_frame_indices": [ 0, 170, 201 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1865.json" } }, { "id": "droid_cotrack_episode_148", "task": "Pick up the purple toy from the bowl and put it on the table.; Move the toy on the plate to the table; Take the purple plush toy out of the white bowl.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_148/frame_0000.jpg", "droid-cotrack/images/episode_148/frame_0121.jpg", "droid-cotrack/images/episode_148/frame_0186.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the purple toy from the bowl and put it on the table.; Move the toy on the plate to the table; Take the purple plush toy out of the white bowl.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the purple toy from the bowl and put it on the table.; Move the toy on the plate to the table; Take the purple plush toy out of the white bowl., execute the following phases: 1) Initial approach phase (start at [0.489, 0.537]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.550, 0.708]). The trajectory involves 187 precise waypoints with total movement distance of 0.554." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_148", "trajectory_length": 187, "key_frame_indices": [ 0, 121, 186 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_148.json" } }, { "id": "droid_cotrack_episode_10082", "task": "Put the blue pen in the bowl; Put the pen in the bowl; Put the blue pen in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10082/frame_0000.jpg", "droid-cotrack/images/episode_10082/frame_0121.jpg", "droid-cotrack/images/episode_10082/frame_0150.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the blue pen in the bowl; Put the pen in the bowl; Put the blue pen in the bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the blue pen in the bowl; Put the pen in the bowl; Put the blue pen in the bowl, execute the following phases: 1) Initial approach phase (start at [0.387, 0.551]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.441, 0.608]). The trajectory involves 151 precise waypoints with total movement distance of 0.326." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10082", "trajectory_length": 151, "key_frame_indices": [ 0, 121, 150 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10082.json" } }, { "id": "droid_cotrack_episode_807", "task": "Move the black cutlery box to the left side of the table; Move the black rack to the left; Move the black object from the right end of the table to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_807/frame_0000.jpg", "droid-cotrack/images/episode_807/frame_0170.jpg", "droid-cotrack/images/episode_807/frame_0264.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the black cutlery box to the left side of the table; Move the black rack to the left; Move the black object from the right end of the table to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the black cutlery box to the left side of the table; Move the black rack to the left; Move the black object from the right end of the table to the left, execute the following phases: 1) Initial approach phase (start at [0.810, 0.433]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.528, 0.318]). The trajectory involves 265 precise waypoints with total movement distance of 0.843." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_807", "trajectory_length": 265, "key_frame_indices": [ 0, 170, 264 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_807.json" } }, { "id": "droid_cotrack_episode_4329", "task": "Pick up the yellow and orange circles from the wooden object then put them on the table.; Remove the orange and yellow rings from the middle of the wooden board.; Pick up the orange and yellow objects and put them on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4329/frame_0000.jpg", "droid-cotrack/images/episode_4329/frame_0001.jpg", "droid-cotrack/images/episode_4329/frame_0222.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the yellow and orange circles from the wooden object then put them on the table.; Remove the orange and yellow rings from the middle of the wooden board.; Pick up the orange and yellow objects and put them on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the yellow and orange circles from the wooden object then put them on the table.; Remove the orange and yellow rings from the middle of the wooden board.; Pick up the orange and yellow objects and put them on the table, execute the following phases: 1) Initial approach phase (start at [0.563, 0.785]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.564, 0.782]). The trajectory involves 223 precise waypoints with total movement distance of 0.103." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4329", "trajectory_length": 223, "key_frame_indices": [ 0, 1, 222 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4329.json" } }, { "id": "droid_cotrack_episode_1005", "task": "Uncover the pan and put the lid on the rack; Uncover the small pot; Remove the lid from the silver pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1005/frame_0000.jpg", "droid-cotrack/images/episode_1005/frame_0072.jpg", "droid-cotrack/images/episode_1005/frame_0106.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Uncover the pan and put the lid on the rack; Uncover the small pot; Remove the lid from the silver pot?" }, { "from": "gpt", "value": "To complete this repositioning: Uncover the pan and put the lid on the rack; Uncover the small pot; Remove the lid from the silver pot, execute the following phases: 1) Initial approach phase (start at [0.643, 0.689]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.637, 0.689]). The trajectory involves 107 precise waypoints with total movement distance of 0.034." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1005", "trajectory_length": 107, "key_frame_indices": [ 0, 72, 106 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1005.json" } }, { "id": "droid_cotrack_episode_10111", "task": "Take the maize cob toy from the plate and place it on the table; Remove the corn from the plate and put it on the table; Put the yellow object on the plate on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10111/frame_0000.jpg", "droid-cotrack/images/episode_10111/frame_0256.jpg", "droid-cotrack/images/episode_10111/frame_0304.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the maize cob toy from the plate and place it on the table; Remove the corn from the plate and put it on the table; Put the yellow object on the plate on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Take the maize cob toy from the plate and place it on the table; Remove the corn from the plate and put it on the table; Put the yellow object on the plate on the table, execute the following phases: 1) Initial approach phase (start at [0.834, 0.485]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.808, 0.578]). The trajectory involves 305 precise waypoints with total movement distance of 0.688." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10111", "trajectory_length": 305, "key_frame_indices": [ 0, 256, 304 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10111.json" } }, { "id": "droid_cotrack_episode_459", "task": "Pick up the white paper from the table and put it inside the bin; Pick up the white paper from the counter and put it in the black bin; Put the paper in the bin", "selected_step": 1, "image": [ "droid-cotrack/images/episode_459/frame_0000.jpg", "droid-cotrack/images/episode_459/frame_0151.jpg", "droid-cotrack/images/episode_459/frame_0436.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the white paper from the table and put it inside the bin; Pick up the white paper from the counter and put it in the black bin; Put the paper in the bin?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the white paper from the table and put it inside the bin; Pick up the white paper from the counter and put it in the black bin; Put the paper in the bin, execute the following phases: 1) Initial approach phase (start at [0.579, 0.505]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.574, 0.504]). The trajectory involves 437 precise waypoints with total movement distance of 0.230." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_459", "trajectory_length": 437, "key_frame_indices": [ 0, 151, 436 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_459.json" } }, { "id": "droid_cotrack_episode_1291", "task": "Move the white cup to the right; Move the white mug to the right; Move the mug to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1291/frame_0000.jpg", "droid-cotrack/images/episode_1291/frame_0147.jpg", "droid-cotrack/images/episode_1291/frame_0274.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the white cup to the right; Move the white mug to the right; Move the mug to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the white cup to the right; Move the white mug to the right; Move the mug to the right, execute the following phases: 1) Initial approach phase (start at [0.542, 0.705]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.538, 0.705]). The trajectory involves 275 precise waypoints with total movement distance of 0.095." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1291", "trajectory_length": 275, "key_frame_indices": [ 0, 147, 274 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1291.json" } }, { "id": "droid_cotrack_episode_6819", "task": "Open the box; Open the box on the table; Open the lid of the box", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6819/frame_0000.jpg", "droid-cotrack/images/episode_6819/frame_0045.jpg", "droid-cotrack/images/episode_6819/frame_0261.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the box; Open the box on the table; Open the lid of the box?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the box; Open the box on the table; Open the lid of the box, execute the following phases: 1) Initial approach phase (start at [0.463, 0.015]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.484, 0.201]). The trajectory involves 262 precise waypoints with total movement distance of 1.092." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6819", "trajectory_length": 262, "key_frame_indices": [ 0, 45, 261 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6819.json" } }, { "id": "droid_cotrack_episode_6116", "task": "Put the white rope inside the blue box; Put the ropes in the box; Pick up the ropes and put them in the box", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6116/frame_0000.jpg", "droid-cotrack/images/episode_6116/frame_0138.jpg", "droid-cotrack/images/episode_6116/frame_0245.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the white rope inside the blue box; Put the ropes in the box; Pick up the ropes and put them in the box?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the white rope inside the blue box; Put the ropes in the box; Pick up the ropes and put them in the box, execute the following phases: 1) Initial approach phase (start at [0.583, 0.771]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.582, 0.750]). The trajectory involves 246 precise waypoints with total movement distance of 0.808." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6116", "trajectory_length": 246, "key_frame_indices": [ 0, 138, 245 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6116.json" } }, { "id": "droid_cotrack_episode_1519", "task": "Put the tissue box on the white bottle; Put the tissue box on top of the Lysol container.; Put the box on the container", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1519/frame_0000.jpg", "droid-cotrack/images/episode_1519/frame_0110.jpg", "droid-cotrack/images/episode_1519/frame_0240.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the tissue box on the white bottle; Put the tissue box on top of the Lysol container.; Put the box on the container?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the tissue box on the white bottle; Put the tissue box on top of the Lysol container.; Put the box on the container, execute the following phases: 1) Initial approach phase (start at [0.710, 0.504]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.712, 0.504]). The trajectory involves 241 precise waypoints with total movement distance of 0.092." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1519", "trajectory_length": 241, "key_frame_indices": [ 0, 110, 240 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1519.json" } }, { "id": "droid_cotrack_episode_6323", "task": "Open the bottom drawer of right cabinet; Open the bottom drawer of the file cabinet on the right; Open the bottom drawer of the right file cabinet", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6323/frame_0000.jpg", "droid-cotrack/images/episode_6323/frame_0129.jpg", "droid-cotrack/images/episode_6323/frame_0176.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the bottom drawer of right cabinet; Open the bottom drawer of the file cabinet on the right; Open the bottom drawer of the right file cabinet?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the bottom drawer of right cabinet; Open the bottom drawer of the file cabinet on the right; Open the bottom drawer of the right file cabinet, execute the following phases: 1) Initial approach phase (start at [0.648, 0.705]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.654, 0.707]). The trajectory involves 177 precise waypoints with total movement distance of 0.128." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6323", "trajectory_length": 177, "key_frame_indices": [ 0, 129, 176 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6323.json" } }, { "id": "droid_cotrack_episode_528", "task": "Move the circular object forward near the pumpkin; Move the seal tape; Move the masking tape forward", "selected_step": 1, "image": [ "droid-cotrack/images/episode_528/frame_0000.jpg", "droid-cotrack/images/episode_528/frame_0169.jpg", "droid-cotrack/images/episode_528/frame_0265.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the circular object forward near the pumpkin; Move the seal tape; Move the masking tape forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the circular object forward near the pumpkin; Move the seal tape; Move the masking tape forward, execute the following phases: 1) Initial approach phase (start at [0.461, 0.777]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.362, 0.444]). The trajectory involves 266 precise waypoints with total movement distance of 0.977." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_528", "trajectory_length": 266, "key_frame_indices": [ 0, 169, 265 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_528.json" } }, { "id": "droid_cotrack_episode_1858", "task": "Pick the wooden spatula on the stove and put it in the pot on the right; Pick up the cooking stick from the pot and put it in the pot; Put the wooden spoon in the right black pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1858/frame_0000.jpg", "droid-cotrack/images/episode_1858/frame_0163.jpg", "droid-cotrack/images/episode_1858/frame_0178.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the wooden spatula on the stove and put it in the pot on the right; Pick up the cooking stick from the pot and put it in the pot; Put the wooden spoon in the right black pot?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the wooden spatula on the stove and put it in the pot on the right; Pick up the cooking stick from the pot and put it in the pot; Put the wooden spoon in the right black pot, execute the following phases: 1) Initial approach phase (start at [0.438, 0.965]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.529, 0.481]). The trajectory involves 179 precise waypoints with total movement distance of 1.008." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1858", "trajectory_length": 179, "key_frame_indices": [ 0, 163, 178 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1858.json" } }, { "id": "droid_cotrack_episode_202", "task": "Remove one tissue from the box; Remove a piece of tissue from the tissue box; Remove a tissue from the box", "selected_step": 1, "image": [ "droid-cotrack/images/episode_202/frame_0000.jpg", "droid-cotrack/images/episode_202/frame_0100.jpg", "droid-cotrack/images/episode_202/frame_0188.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove one tissue from the box; Remove a piece of tissue from the tissue box; Remove a tissue from the box?" }, { "from": "gpt", "value": "To complete this repositioning: Remove one tissue from the box; Remove a piece of tissue from the tissue box; Remove a tissue from the box, execute the following phases: 1) Initial approach phase (start at [0.650, 0.311]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.649, 0.318]). The trajectory involves 189 precise waypoints with total movement distance of 0.100." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_202", "trajectory_length": 189, "key_frame_indices": [ 0, 100, 188 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_202.json" } }, { "id": "droid_cotrack_episode_6334", "task": "Remove the white cloth from the black stand; Put the white cloth on the table; Put the cloth on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6334/frame_0000.jpg", "droid-cotrack/images/episode_6334/frame_0073.jpg", "droid-cotrack/images/episode_6334/frame_0114.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the white cloth from the black stand; Put the white cloth on the table; Put the cloth on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the white cloth from the black stand; Put the white cloth on the table; Put the cloth on the table, execute the following phases: 1) Initial approach phase (start at [0.437, 0.152]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.437, 0.155]). The trajectory involves 115 precise waypoints with total movement distance of 0.032." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6334", "trajectory_length": 115, "key_frame_indices": [ 0, 73, 114 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6334.json" } }, { "id": "droid_cotrack_episode_1951", "task": "Open the book; Open the front cover of the black book; Open the book", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1951/frame_0000.jpg", "droid-cotrack/images/episode_1951/frame_0106.jpg", "droid-cotrack/images/episode_1951/frame_0133.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the book; Open the front cover of the black book; Open the book?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the book; Open the front cover of the black book; Open the book, execute the following phases: 1) Initial approach phase (start at [0.759, 0.522]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.837, 0.414]). The trajectory involves 134 precise waypoints with total movement distance of 0.300." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1951", "trajectory_length": 134, "key_frame_indices": [ 0, 106, 133 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1951.json" } }, { "id": "droid_cotrack_episode_1778", "task": "Put the green marker inside the white mug; Put the marker in the mug; Pick the pen on the table and put it in the mug", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1778/frame_0000.jpg", "droid-cotrack/images/episode_1778/frame_0237.jpg", "droid-cotrack/images/episode_1778/frame_0270.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the green marker inside the white mug; Put the marker in the mug; Pick the pen on the table and put it in the mug?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the green marker inside the white mug; Put the marker in the mug; Pick the pen on the table and put it in the mug, execute the following phases: 1) Initial approach phase (start at [0.532, 0.577]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.409, 0.430]). The trajectory involves 271 precise waypoints with total movement distance of 0.736." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1778", "trajectory_length": 271, "key_frame_indices": [ 0, 237, 270 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1778.json" } }, { "id": "droid_cotrack_episode_1596", "task": "Put the pen on the countertop; Take the pen out of the mug and put it on the counter; Take the pen out of the mug and place it on the countertop", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1596/frame_0000.jpg", "droid-cotrack/images/episode_1596/frame_0089.jpg", "droid-cotrack/images/episode_1596/frame_0119.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pen on the countertop; Take the pen out of the mug and put it on the counter; Take the pen out of the mug and place it on the countertop?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the pen on the countertop; Take the pen out of the mug and put it on the counter; Take the pen out of the mug and place it on the countertop, execute the following phases: 1) Initial approach phase (start at [0.270, 0.214]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.320, 0.305]). The trajectory involves 120 precise waypoints with total movement distance of 0.538." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1596", "trajectory_length": 120, "key_frame_indices": [ 0, 89, 119 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1596.json" } }, { "id": "droid_cotrack_episode_1161", "task": "Uncover the pot and put the lid on the table; Put the lid of the pot on the table; Lift the pot lid and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1161/frame_0000.jpg", "droid-cotrack/images/episode_1161/frame_0148.jpg", "droid-cotrack/images/episode_1161/frame_0231.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Uncover the pot and put the lid on the table; Put the lid of the pot on the table; Lift the pot lid and put it on the table?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Uncover the pot and put the lid on the table; Put the lid of the pot on the table; Lift the pot lid and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.553, 0.575]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.556, 0.581]). The trajectory involves 232 precise waypoints with total movement distance of 0.284." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1161", "trajectory_length": 232, "key_frame_indices": [ 0, 148, 231 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1161.json" } }, { "id": "droid_cotrack_episode_10133", "task": "Push the second button in the third row of the middle machine; Press a button on the washing machine in the middle; Press a button on the second washing machine", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10133/frame_0000.jpg", "droid-cotrack/images/episode_10133/frame_0059.jpg", "droid-cotrack/images/episode_10133/frame_0091.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the second button in the third row of the middle machine; Press a button on the washing machine in the middle; Press a button on the second washing machine?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push the second button in the third row of the middle machine; Press a button on the washing machine in the middle; Press a button on the second washing machine, execute the following phases: 1) Initial approach phase (start at [0.395, 0.488]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.398, 0.488]). The trajectory involves 92 precise waypoints with total movement distance of 0.037." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10133", "trajectory_length": 92, "key_frame_indices": [ 0, 59, 91 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10133.json" } }, { "id": "droid_cotrack_episode_4505", "task": "Put the yellow item in the blue object", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4505/frame_0000.jpg", "droid-cotrack/images/episode_4505/frame_0097.jpg", "droid-cotrack/images/episode_4505/frame_0448.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the yellow item in the blue object?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the yellow item in the blue object, execute the following phases: 1) Initial approach phase (start at [0.556, 0.759]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.557, 0.762]). The trajectory involves 449 precise waypoints with total movement distance of 0.170." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4505", "trajectory_length": 449, "key_frame_indices": [ 0, 97, 448 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4505.json" } }, { "id": "droid_cotrack_episode_1030", "task": "Take the marker out of the red mug; Remove the marker from the cup; Pick up the marker from the cup and place it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1030/frame_0000.jpg", "droid-cotrack/images/episode_1030/frame_0098.jpg", "droid-cotrack/images/episode_1030/frame_0123.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the marker out of the red mug; Remove the marker from the cup; Pick up the marker from the cup and place it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Take the marker out of the red mug; Remove the marker from the cup; Pick up the marker from the cup and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.879, 0.855]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.738, 0.837]). The trajectory involves 124 precise waypoints with total movement distance of 0.539." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1030", "trajectory_length": 124, "key_frame_indices": [ 0, 98, 123 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1030.json" } }, { "id": "droid_cotrack_episode_6688", "task": "Put the purple toy into the dish.; Pick up the grape toy and put it in the bowl; Put the purple object inside the dish", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6688/frame_0000.jpg", "droid-cotrack/images/episode_6688/frame_0136.jpg", "droid-cotrack/images/episode_6688/frame_0174.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the purple toy into the dish.; Pick up the grape toy and put it in the bowl; Put the purple object inside the dish?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the purple toy into the dish.; Pick up the grape toy and put it in the bowl; Put the purple object inside the dish, execute the following phases: 1) Initial approach phase (start at [0.557, 0.622]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.539, 0.460]). The trajectory involves 175 precise waypoints with total movement distance of 0.762." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6688", "trajectory_length": 175, "key_frame_indices": [ 0, 136, 174 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6688.json" } }, { "id": "droid_cotrack_episode_10309", "task": "Remove the marker from the cup and put it on the table; Remove the marker from the mug cup and place it on the table; Remove the marker from the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10309/frame_0000.jpg", "droid-cotrack/images/episode_10309/frame_0100.jpg", "droid-cotrack/images/episode_10309/frame_0120.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker from the cup and put it on the table; Remove the marker from the mug cup and place it on the table; Remove the marker from the cup?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the marker from the cup and put it on the table; Remove the marker from the mug cup and place it on the table; Remove the marker from the cup, execute the following phases: 1) Initial approach phase (start at [0.647, 0.445]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.679, 0.491]). The trajectory involves 121 precise waypoints with total movement distance of 0.488." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10309", "trajectory_length": 121, "key_frame_indices": [ 0, 100, 120 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10309.json" } }, { "id": "droid_cotrack_episode_387", "task": "Put the maroon object in the white bowl; Put the purple plush toy in the bowl; Put the tulip plush toy in the white basin", "selected_step": 1, "image": [ "droid-cotrack/images/episode_387/frame_0000.jpg", "droid-cotrack/images/episode_387/frame_0108.jpg", "droid-cotrack/images/episode_387/frame_0176.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the maroon object in the white bowl; Put the purple plush toy in the bowl; Put the tulip plush toy in the white basin?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the maroon object in the white bowl; Put the purple plush toy in the bowl; Put the tulip plush toy in the white basin, execute the following phases: 1) Initial approach phase (start at [0.683, 0.470]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.502, 0.468]). The trajectory involves 177 precise waypoints with total movement distance of 0.439." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_387", "trajectory_length": 177, "key_frame_indices": [ 0, 108, 176 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_387.json" } }, { "id": "droid_cotrack_episode_4417", "task": "Close the lid of the machine; Close the coffee machine chamber; Close the water reservoir lid on the Keurig machine", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4417/frame_0000.jpg", "droid-cotrack/images/episode_4417/frame_0113.jpg", "droid-cotrack/images/episode_4417/frame_0244.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the lid of the machine; Close the coffee machine chamber; Close the water reservoir lid on the Keurig machine?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the lid of the machine; Close the coffee machine chamber; Close the water reservoir lid on the Keurig machine, execute the following phases: 1) Initial approach phase (start at [0.403, 0.137]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.502, 0.333]). The trajectory involves 245 precise waypoints with total movement distance of 0.477." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4417", "trajectory_length": 245, "key_frame_indices": [ 0, 113, 244 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4417.json" } }, { "id": "droid_cotrack_episode_4461", "task": "Press the button on the kettle handle; Push the switch on the kettle; Turn on the electric kettle", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4461/frame_0000.jpg", "droid-cotrack/images/episode_4461/frame_0166.jpg", "droid-cotrack/images/episode_4461/frame_0192.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Press the button on the kettle handle; Push the switch on the kettle; Turn on the electric kettle?" }, { "from": "gpt", "value": "To complete this button/switch activation: Press the button on the kettle handle; Push the switch on the kettle; Turn on the electric kettle, execute the following phases: 1) Initial approach phase (start at [0.567, 0.607]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.568, 0.607]). The trajectory involves 193 precise waypoints with total movement distance of 0.044." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4461", "trajectory_length": 193, "key_frame_indices": [ 0, 166, 192 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4461.json" } }, { "id": "droid_cotrack_episode_6276", "task": "Turn the tap nozzle to the left; Move the faucet nozzle to the center; Move the top to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6276/frame_0000.jpg", "droid-cotrack/images/episode_6276/frame_0055.jpg", "droid-cotrack/images/episode_6276/frame_0087.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn the tap nozzle to the left; Move the faucet nozzle to the center; Move the top to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Turn the tap nozzle to the left; Move the faucet nozzle to the center; Move the top to the left, execute the following phases: 1) Initial approach phase (start at [0.750, 0.463]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.675, 0.429]). The trajectory involves 88 precise waypoints with total movement distance of 0.165." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6276", "trajectory_length": 88, "key_frame_indices": [ 0, 55, 87 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6276.json" } }, { "id": "droid_cotrack_episode_4341", "task": "Remove the marker from the cup and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4341/frame_0000.jpg", "droid-cotrack/images/episode_4341/frame_0247.jpg", "droid-cotrack/images/episode_4341/frame_0256.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker from the cup and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the marker from the cup and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.491, 0.258]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.540, 0.331]). The trajectory involves 257 precise waypoints with total movement distance of 0.432." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4341", "trajectory_length": 257, "key_frame_indices": [ 0, 247, 256 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4341.json" } }, { "id": "droid_cotrack_episode_1417", "task": "Switch on the toaster; Push down the toaster lever; Turn on the toaster", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1417/frame_0000.jpg", "droid-cotrack/images/episode_1417/frame_0051.jpg", "droid-cotrack/images/episode_1417/frame_0114.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Switch on the toaster; Push down the toaster lever; Turn on the toaster?" }, { "from": "gpt", "value": "To complete this button/switch activation: Switch on the toaster; Push down the toaster lever; Turn on the toaster, execute the following phases: 1) Initial approach phase (start at [0.602, 0.575]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.603, 0.573]). The trajectory involves 115 precise waypoints with total movement distance of 0.046." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1417", "trajectory_length": 115, "key_frame_indices": [ 0, 51, 114 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1417.json" } }, { "id": "droid_cotrack_episode_4591", "task": "remove the object from the tray and place it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4591/frame_0000.jpg", "droid-cotrack/images/episode_4591/frame_0111.jpg", "droid-cotrack/images/episode_4591/frame_0144.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: remove the object from the tray and place it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: remove the object from the tray and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.394, 0.526]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.445, 0.552]). The trajectory involves 145 precise waypoints with total movement distance of 0.154." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4591", "trajectory_length": 145, "key_frame_indices": [ 0, 111, 144 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4591.json" } }, { "id": "droid_cotrack_episode_1264", "task": "Put the marker inside the pot; Put the marker in the pot; Take the marker from the table and place it in the silver pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1264/frame_0000.jpg", "droid-cotrack/images/episode_1264/frame_0061.jpg", "droid-cotrack/images/episode_1264/frame_0132.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker inside the pot; Put the marker in the pot; Take the marker from the table and place it in the silver pot?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the marker inside the pot; Put the marker in the pot; Take the marker from the table and place it in the silver pot, execute the following phases: 1) Initial approach phase (start at [0.461, 0.456]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.466, 0.450]). The trajectory involves 133 precise waypoints with total movement distance of 0.061." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1264", "trajectory_length": 133, "key_frame_indices": [ 0, 61, 132 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1264.json" } }, { "id": "droid_cotrack_episode_1084", "task": "Put the carrot plushie on the pan; Put the carrot plush on the pan; Put the carrot plush toy on the pan", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1084/frame_0000.jpg", "droid-cotrack/images/episode_1084/frame_0129.jpg", "droid-cotrack/images/episode_1084/frame_0147.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the carrot plushie on the pan; Put the carrot plush on the pan; Put the carrot plush toy on the pan?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the carrot plushie on the pan; Put the carrot plush on the pan; Put the carrot plush toy on the pan, execute the following phases: 1) Initial approach phase (start at [0.602, 0.613]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.485, 0.528]). The trajectory involves 148 precise waypoints with total movement distance of 0.394." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1084", "trajectory_length": 148, "key_frame_indices": [ 0, 129, 147 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1084.json" } }, { "id": "droid_cotrack_episode_1553", "task": "Put the remote on the stand", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1553/frame_0000.jpg", "droid-cotrack/images/episode_1553/frame_0157.jpg", "droid-cotrack/images/episode_1553/frame_0281.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the remote on the stand?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the remote on the stand, execute the following phases: 1) Initial approach phase (start at [0.336, 0.326]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.336, 0.329]). The trajectory involves 282 precise waypoints with total movement distance of 0.261." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1553", "trajectory_length": 282, "key_frame_indices": [ 0, 157, 281 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1553.json" } }, { "id": "droid_cotrack_episode_6753", "task": "Move the mug to the left; Move the mug to the left.; Move the green cup to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6753/frame_0000.jpg", "droid-cotrack/images/episode_6753/frame_0079.jpg", "droid-cotrack/images/episode_6753/frame_0111.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug to the left; Move the mug to the left.; Move the green cup to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug to the left; Move the mug to the left.; Move the green cup to the left, execute the following phases: 1) Initial approach phase (start at [0.573, 0.452]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.503, 0.508]). The trajectory involves 112 precise waypoints with total movement distance of 0.186." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6753", "trajectory_length": 112, "key_frame_indices": [ 0, 79, 111 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6753.json" } }, { "id": "droid_cotrack_episode_173", "task": "Wipe the table with the yellow towel; Move the yellow towel to the left, then to the right, then to the left; Use the yellow towel to wipe the desk", "selected_step": 1, "image": [ "droid-cotrack/images/episode_173/frame_0000.jpg", "droid-cotrack/images/episode_173/frame_0096.jpg", "droid-cotrack/images/episode_173/frame_0153.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Wipe the table with the yellow towel; Move the yellow towel to the left, then to the right, then to the left; Use the yellow towel to wipe the desk?" }, { "from": "gpt", "value": "To complete this repositioning: Wipe the table with the yellow towel; Move the yellow towel to the left, then to the right, then to the left; Use the yellow towel to wipe the desk, execute the following phases: 1) Initial approach phase (start at [0.498, 0.608]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.498, 0.602]). The trajectory involves 154 precise waypoints with total movement distance of 0.118." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_173", "trajectory_length": 154, "key_frame_indices": [ 0, 96, 153 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_173.json" } }, { "id": "droid_cotrack_episode_1562", "task": "Put the marker in the cup on the table; Take the marker from the cup and put it on the table; Remove the marker from the cup and place it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1562/frame_0000.jpg", "droid-cotrack/images/episode_1562/frame_0027.jpg", "droid-cotrack/images/episode_1562/frame_0302.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the cup on the table; Take the marker from the cup and put it on the table; Remove the marker from the cup and place it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Put the marker in the cup on the table; Take the marker from the cup and put it on the table; Remove the marker from the cup and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.342, 0.349]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.604, 0.828]). The trajectory involves 303 precise waypoints with total movement distance of 1.616." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1562", "trajectory_length": 303, "key_frame_indices": [ 0, 27, 302 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1562.json" } }, { "id": "droid_cotrack_episode_1801", "task": "Use the white napkin to wipe the blue book.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1801/frame_0000.jpg", "droid-cotrack/images/episode_1801/frame_0072.jpg", "droid-cotrack/images/episode_1801/frame_0252.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the white napkin to wipe the blue book.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Use the white napkin to wipe the blue book., execute the following phases: 1) Initial approach phase (start at [0.314, 0.677]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.318, 0.671]). The trajectory involves 253 precise waypoints with total movement distance of 0.128." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1801", "trajectory_length": 253, "key_frame_indices": [ 0, 72, 252 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1801.json" } }, { "id": "droid_cotrack_episode_6066", "task": "Hang the cloth on the stand; Pick the cloth on the table and put it on the stand; Place the green and white cloth on the black stand", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6066/frame_0000.jpg", "droid-cotrack/images/episode_6066/frame_0149.jpg", "droid-cotrack/images/episode_6066/frame_0314.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Hang the cloth on the stand; Pick the cloth on the table and put it on the stand; Place the green and white cloth on the black stand?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Hang the cloth on the stand; Pick the cloth on the table and put it on the stand; Place the green and white cloth on the black stand, execute the following phases: 1) Initial approach phase (start at [0.465, 0.528]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.430, 0.289]). The trajectory involves 315 precise waypoints with total movement distance of 1.746." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6066", "trajectory_length": 315, "key_frame_indices": [ 0, 149, 314 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6066.json" } }, { "id": "droid_cotrack_episode_10171", "task": "Put the blue marker inside the yellow mug; Put the blue marker inside the yellow mug; Put the marker in the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10171/frame_0000.jpg", "droid-cotrack/images/episode_10171/frame_0085.jpg", "droid-cotrack/images/episode_10171/frame_0152.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the blue marker inside the yellow mug; Put the blue marker inside the yellow mug; Put the marker in the cup?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the blue marker inside the yellow mug; Put the blue marker inside the yellow mug; Put the marker in the cup, execute the following phases: 1) Initial approach phase (start at [0.541, 0.587]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.577, 0.438]). The trajectory involves 153 precise waypoints with total movement distance of 0.706." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10171", "trajectory_length": 153, "key_frame_indices": [ 0, 85, 152 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10171.json" } }, { "id": "droid_cotrack_episode_6687", "task": "Place the flask in the backpack; Put the silver flask inside the dark blue bag; Put the cup inside the bag", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6687/frame_0000.jpg", "droid-cotrack/images/episode_6687/frame_0128.jpg", "droid-cotrack/images/episode_6687/frame_0306.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the flask in the backpack; Put the silver flask inside the dark blue bag; Put the cup inside the bag?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Place the flask in the backpack; Put the silver flask inside the dark blue bag; Put the cup inside the bag, execute the following phases: 1) Initial approach phase (start at [0.486, 0.840]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.488, 0.825]). The trajectory involves 307 precise waypoints with total movement distance of 0.193." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6687", "trajectory_length": 307, "key_frame_indices": [ 0, 128, 306 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6687.json" } }, { "id": "droid_cotrack_episode_4096", "task": "Take the orange object from the drawer and place it on the countertop; Put the orange packet on the kitchen counter; Move the orange packet from the drawer to the countertop", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4096/frame_0000.jpg", "droid-cotrack/images/episode_4096/frame_0093.jpg", "droid-cotrack/images/episode_4096/frame_0146.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the orange object from the drawer and place it on the countertop; Put the orange packet on the kitchen counter; Move the orange packet from the drawer to the countertop?" }, { "from": "gpt", "value": "To complete this repositioning: Take the orange object from the drawer and place it on the countertop; Put the orange packet on the kitchen counter; Move the orange packet from the drawer to the countertop, execute the following phases: 1) Initial approach phase (start at [0.756, 0.400]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.842, 0.253]). The trajectory involves 147 precise waypoints with total movement distance of 0.807." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4096", "trajectory_length": 147, "key_frame_indices": [ 0, 93, 146 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4096.json" } }, { "id": "droid_cotrack_episode_1670", "task": "Remove the glue stick from the mug and put it on the table; Remove the green and yellow glue stick from the mug; Put the glue stick on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1670/frame_0000.jpg", "droid-cotrack/images/episode_1670/frame_0098.jpg", "droid-cotrack/images/episode_1670/frame_0139.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the glue stick from the mug and put it on the table; Remove the green and yellow glue stick from the mug; Put the glue stick on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the glue stick from the mug and put it on the table; Remove the green and yellow glue stick from the mug; Put the glue stick on the table, execute the following phases: 1) Initial approach phase (start at [0.563, 0.348]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.829, 0.528]). The trajectory involves 140 precise waypoints with total movement distance of 0.985." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1670", "trajectory_length": 140, "key_frame_indices": [ 0, 98, 139 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1670.json" } }, { "id": "droid_cotrack_episode_2008", "task": "Put the glass lid on top of the black pot; Place the lid onto the pot; Put the glass lid on top of the black pot.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2008/frame_0000.jpg", "droid-cotrack/images/episode_2008/frame_0084.jpg", "droid-cotrack/images/episode_2008/frame_0172.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the glass lid on top of the black pot; Place the lid onto the pot; Put the glass lid on top of the black pot.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the glass lid on top of the black pot; Place the lid onto the pot; Put the glass lid on top of the black pot., execute the following phases: 1) Initial approach phase (start at [0.378, 0.951]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.377, 0.948]). The trajectory involves 173 precise waypoints with total movement distance of 0.070." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2008", "trajectory_length": 173, "key_frame_indices": [ 0, 84, 172 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2008.json" } }, { "id": "droid_cotrack_episode_6207", "task": "Put the chicken in the sink; Place the chicken toy in the sink; Put the chicken piece in the sink", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6207/frame_0000.jpg", "droid-cotrack/images/episode_6207/frame_0078.jpg", "droid-cotrack/images/episode_6207/frame_0098.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the chicken in the sink; Place the chicken toy in the sink; Put the chicken piece in the sink?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the chicken in the sink; Place the chicken toy in the sink; Put the chicken piece in the sink, execute the following phases: 1) Initial approach phase (start at [0.528, 0.639]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.628, 0.731]). The trajectory involves 99 precise waypoints with total movement distance of 0.189." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6207", "trajectory_length": 99, "key_frame_indices": [ 0, 78, 98 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6207.json" } }, { "id": "droid_cotrack_episode_1311", "task": "Remove the black pen from the white bowl and put it on the table; Remove the black marker from the white bowl; Take the pen out of the white bowl and place it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1311/frame_0000.jpg", "droid-cotrack/images/episode_1311/frame_0131.jpg", "droid-cotrack/images/episode_1311/frame_0173.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the black pen from the white bowl and put it on the table; Remove the black marker from the white bowl; Take the pen out of the white bowl and place it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the black pen from the white bowl and put it on the table; Remove the black marker from the white bowl; Take the pen out of the white bowl and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.604, 0.426]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.511, 0.563]). The trajectory involves 174 precise waypoints with total movement distance of 0.551." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1311", "trajectory_length": 174, "key_frame_indices": [ 0, 131, 173 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1311.json" } }, { "id": "droid_cotrack_episode_1548", "task": "Take the marker out of the cup and put it on the table; Remove the marker from the white coffee cup; Put the marker in the mug on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1548/frame_0000.jpg", "droid-cotrack/images/episode_1548/frame_0119.jpg", "droid-cotrack/images/episode_1548/frame_0133.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the marker out of the cup and put it on the table; Remove the marker from the white coffee cup; Put the marker in the mug on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Take the marker out of the cup and put it on the table; Remove the marker from the white coffee cup; Put the marker in the mug on the table, execute the following phases: 1) Initial approach phase (start at [0.534, 0.535]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.537, 0.551]). The trajectory involves 134 precise waypoints with total movement distance of 0.070." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1548", "trajectory_length": 134, "key_frame_indices": [ 0, 119, 133 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1548.json" } }, { "id": "droid_cotrack_episode_6147", "task": "Put the grey pot inside the sink; Take the left gray pot from the stove and put it in the sink; Pick up the grey pot on the left and place it in the sink", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6147/frame_0000.jpg", "droid-cotrack/images/episode_6147/frame_0144.jpg", "droid-cotrack/images/episode_6147/frame_0248.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the grey pot inside the sink; Take the left gray pot from the stove and put it in the sink; Pick up the grey pot on the left and place it in the sink?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the grey pot inside the sink; Take the left gray pot from the stove and put it in the sink; Pick up the grey pot on the left and place it in the sink, execute the following phases: 1) Initial approach phase (start at [0.669, 0.548]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.555, 0.584]). The trajectory involves 249 precise waypoints with total movement distance of 0.271." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6147", "trajectory_length": 249, "key_frame_indices": [ 0, 144, 248 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6147.json" } }, { "id": "droid_cotrack_episode_4088", "task": "Put the yellow block inside the light blue cup; Put the yellow building block in the blue cup; Put the yellow block in the blue cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4088/frame_0000.jpg", "droid-cotrack/images/episode_4088/frame_0030.jpg", "droid-cotrack/images/episode_4088/frame_0092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the yellow block inside the light blue cup; Put the yellow building block in the blue cup; Put the yellow block in the blue cup?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the yellow block inside the light blue cup; Put the yellow building block in the blue cup; Put the yellow block in the blue cup, execute the following phases: 1) Initial approach phase (start at [0.618, 0.383]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.629, 0.389]). The trajectory involves 93 precise waypoints with total movement distance of 0.823." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4088", "trajectory_length": 93, "key_frame_indices": [ 0, 30, 92 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4088.json" } }, { "id": "droid_cotrack_episode_1836", "task": "Pick up the bottle and put it on the stove", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1836/frame_0000.jpg", "droid-cotrack/images/episode_1836/frame_0201.jpg", "droid-cotrack/images/episode_1836/frame_0316.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the bottle and put it on the stove?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the bottle and put it on the stove, execute the following phases: 1) Initial approach phase (start at [0.506, 0.395]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.519, 0.394]). The trajectory involves 317 precise waypoints with total movement distance of 0.222." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1836", "trajectory_length": 317, "key_frame_indices": [ 0, 201, 316 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1836.json" } }, { "id": "droid_cotrack_episode_10078", "task": "Put the yellow object in the cup; Put the marker in the cup; Put the marker in the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10078/frame_0000.jpg", "droid-cotrack/images/episode_10078/frame_0227.jpg", "droid-cotrack/images/episode_10078/frame_0263.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the yellow object in the cup; Put the marker in the cup; Put the marker in the cup?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the yellow object in the cup; Put the marker in the cup; Put the marker in the cup, execute the following phases: 1) Initial approach phase (start at [0.538, 0.622]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.556, 0.724]). The trajectory involves 264 precise waypoints with total movement distance of 0.525." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10078", "trajectory_length": 264, "key_frame_indices": [ 0, 227, 263 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10078.json" } }, { "id": "droid_cotrack_episode_676", "task": "Get the marker from the table and place it in the transparent cup; Put the sharpie in the bowl; Put the pen in the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_676/frame_0000.jpg", "droid-cotrack/images/episode_676/frame_0127.jpg", "droid-cotrack/images/episode_676/frame_0325.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Get the marker from the table and place it in the transparent cup; Put the sharpie in the bowl; Put the pen in the cup?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Get the marker from the table and place it in the transparent cup; Put the sharpie in the bowl; Put the pen in the cup, execute the following phases: 1) Initial approach phase (start at [0.489, 0.553]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.488, 0.555]). The trajectory involves 326 precise waypoints with total movement distance of 0.138." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_676", "trajectory_length": 326, "key_frame_indices": [ 0, 127, 325 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_676.json" } }, { "id": "droid_cotrack_episode_2231", "task": "Use the towel to wipe the table.; Wipe the table with the towel on the right; Use the red and white towel on the right to wipe the tabletop.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2231/frame_0000.jpg", "droid-cotrack/images/episode_2231/frame_0288.jpg", "droid-cotrack/images/episode_2231/frame_0346.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the towel to wipe the table.; Wipe the table with the towel on the right; Use the red and white towel on the right to wipe the tabletop.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Use the towel to wipe the table.; Wipe the table with the towel on the right; Use the red and white towel on the right to wipe the tabletop., execute the following phases: 1) Initial approach phase (start at [0.380, 0.361]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.381, 0.360]). The trajectory involves 347 precise waypoints with total movement distance of 0.180." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2231", "trajectory_length": 347, "key_frame_indices": [ 0, 288, 346 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2231.json" } }, { "id": "droid_cotrack_episode_6736", "task": "Close the lid of the coffee maker", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6736/frame_0000.jpg", "droid-cotrack/images/episode_6736/frame_0251.jpg", "droid-cotrack/images/episode_6736/frame_0260.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the lid of the coffee maker?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the lid of the coffee maker, execute the following phases: 1) Initial approach phase (start at [0.551, 0.055]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.588, 0.179]). The trajectory involves 261 precise waypoints with total movement distance of 0.257." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6736", "trajectory_length": 261, "key_frame_indices": [ 0, 251, 260 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6736.json" } }, { "id": "droid_cotrack_episode_6683", "task": "Pick up the rectangular object and put it on the table; Pick up the rectangular block that's on the stack and place it on the table.; Move the rectangular block to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6683/frame_0000.jpg", "droid-cotrack/images/episode_6683/frame_0093.jpg", "droid-cotrack/images/episode_6683/frame_0141.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the rectangular object and put it on the table; Pick up the rectangular block that's on the stack and place it on the table.; Move the rectangular block to the left?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the rectangular object and put it on the table; Pick up the rectangular block that's on the stack and place it on the table.; Move the rectangular block to the left, execute the following phases: 1) Initial approach phase (start at [0.456, 0.437]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.455, 0.414]). The trajectory involves 142 precise waypoints with total movement distance of 0.125." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6683", "trajectory_length": 142, "key_frame_indices": [ 0, 93, 141 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6683.json" } }, { "id": "droid_cotrack_episode_1732", "task": "Use the towel to wipe the countertop; Use the white towel to wipe the surface; Wipe the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1732/frame_0000.jpg", "droid-cotrack/images/episode_1732/frame_0206.jpg", "droid-cotrack/images/episode_1732/frame_0361.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the towel to wipe the countertop; Use the white towel to wipe the surface; Wipe the table?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Use the towel to wipe the countertop; Use the white towel to wipe the surface; Wipe the table, execute the following phases: 1) Initial approach phase (start at [0.591, 0.680]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.626, 0.638]). The trajectory involves 362 precise waypoints with total movement distance of 1.906." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1732", "trajectory_length": 362, "key_frame_indices": [ 0, 206, 361 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1732.json" } }, { "id": "droid_cotrack_episode_2073", "task": "Remove the blue mug from the white plate and put it on the table; Remove the cup from the plate; Pick up the blue cup from the white plate and put it on the table.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2073/frame_0000.jpg", "droid-cotrack/images/episode_2073/frame_0266.jpg", "droid-cotrack/images/episode_2073/frame_0295.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the blue mug from the white plate and put it on the table; Remove the cup from the plate; Pick up the blue cup from the white plate and put it on the table.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Remove the blue mug from the white plate and put it on the table; Remove the cup from the plate; Pick up the blue cup from the white plate and put it on the table., execute the following phases: 1) Initial approach phase (start at [0.731, 0.642]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.693, 0.737]). The trajectory involves 296 precise waypoints with total movement distance of 0.338." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2073", "trajectory_length": 296, "key_frame_indices": [ 0, 266, 295 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2073.json" } }, { "id": "droid_cotrack_episode_4454", "task": "Remove the marker from the silver cup; Place the marker on the desk; Take the black marker out of the silver pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4454/frame_0000.jpg", "droid-cotrack/images/episode_4454/frame_0101.jpg", "droid-cotrack/images/episode_4454/frame_0218.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker from the silver cup; Place the marker on the desk; Take the black marker out of the silver pot?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the marker from the silver cup; Place the marker on the desk; Take the black marker out of the silver pot, execute the following phases: 1) Initial approach phase (start at [0.519, 0.434]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.527, 0.439]). The trajectory involves 219 precise waypoints with total movement distance of 0.135." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4454", "trajectory_length": 219, "key_frame_indices": [ 0, 101, 218 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4454.json" } }, { "id": "droid_cotrack_episode_2207", "task": "Take the bottle from the table and put it on the tray; Move the bottle from the table to the top of the segment tray; Pick the bottle and place it on the tray", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2207/frame_0000.jpg", "droid-cotrack/images/episode_2207/frame_0090.jpg", "droid-cotrack/images/episode_2207/frame_0114.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the bottle from the table and put it on the tray; Move the bottle from the table to the top of the segment tray; Pick the bottle and place it on the tray?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Take the bottle from the table and put it on the tray; Move the bottle from the table to the top of the segment tray; Pick the bottle and place it on the tray, execute the following phases: 1) Initial approach phase (start at [0.763, 0.371]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.696, 0.361]). The trajectory involves 115 precise waypoints with total movement distance of 0.242." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2207", "trajectory_length": 115, "key_frame_indices": [ 0, 90, 114 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2207.json" } }, { "id": "droid_cotrack_episode_6526", "task": "Turn the left switch off; Turn off the left light switch; Turn off the left light switch", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6526/frame_0000.jpg", "droid-cotrack/images/episode_6526/frame_0102.jpg", "droid-cotrack/images/episode_6526/frame_0127.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn the left switch off; Turn off the left light switch; Turn off the left light switch?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Turn the left switch off; Turn off the left light switch; Turn off the left light switch, execute the following phases: 1) Initial approach phase (start at [0.526, 0.344]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.526, 0.351]). The trajectory involves 128 precise waypoints with total movement distance of 0.080." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6526", "trajectory_length": 128, "key_frame_indices": [ 0, 102, 127 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6526.json" } }, { "id": "droid_cotrack_episode_1733", "task": "Pick up the pen from the table and put it in the light blue cup.; Pick the marker and put it in the cup; Put the marker in the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1733/frame_0000.jpg", "droid-cotrack/images/episode_1733/frame_0158.jpg", "droid-cotrack/images/episode_1733/frame_0239.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the pen from the table and put it in the light blue cup.; Pick the marker and put it in the cup; Put the marker in the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the pen from the table and put it in the light blue cup.; Pick the marker and put it in the cup; Put the marker in the cup, execute the following phases: 1) Initial approach phase (start at [0.596, 0.705]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.608, 0.469]). The trajectory involves 240 precise waypoints with total movement distance of 0.541." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1733", "trajectory_length": 240, "key_frame_indices": [ 0, 158, 239 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1733.json" } }, { "id": "droid_cotrack_episode_6509", "task": "Open the coffeemaker chamber.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6509/frame_0000.jpg", "droid-cotrack/images/episode_6509/frame_0147.jpg", "droid-cotrack/images/episode_6509/frame_0174.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the coffeemaker chamber.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the coffeemaker chamber., execute the following phases: 1) Initial approach phase (start at [0.198, 0.271]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.173, 0.211]). The trajectory involves 175 precise waypoints with total movement distance of 0.350." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6509", "trajectory_length": 175, "key_frame_indices": [ 0, 147, 174 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6509.json" } }, { "id": "droid_cotrack_episode_4133", "task": "Put the towel on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4133/frame_0000.jpg", "droid-cotrack/images/episode_4133/frame_0097.jpg", "droid-cotrack/images/episode_4133/frame_0159.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the towel on the table?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the towel on the table, execute the following phases: 1) Initial approach phase (start at [0.830, 0.845]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.642, 0.767]). The trajectory involves 160 precise waypoints with total movement distance of 1.085." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4133", "trajectory_length": 160, "key_frame_indices": [ 0, 97, 159 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4133.json" } }, { "id": "droid_cotrack_episode_741", "task": "Remove the glass lid from the black pot.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_741/frame_0000.jpg", "droid-cotrack/images/episode_741/frame_0096.jpg", "droid-cotrack/images/episode_741/frame_0150.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the glass lid from the black pot.?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the glass lid from the black pot., execute the following phases: 1) Initial approach phase (start at [0.474, 0.631]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.473, 0.629]). The trajectory involves 151 precise waypoints with total movement distance of 0.082." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_741", "trajectory_length": 151, "key_frame_indices": [ 0, 96, 150 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_741.json" } }, { "id": "droid_cotrack_episode_10135", "task": "Put the orange cube in the wooden object", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10135/frame_0000.jpg", "droid-cotrack/images/episode_10135/frame_0108.jpg", "droid-cotrack/images/episode_10135/frame_0189.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange cube in the wooden object?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the orange cube in the wooden object, execute the following phases: 1) Initial approach phase (start at [0.491, 0.656]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.489, 0.657]). The trajectory involves 190 precise waypoints with total movement distance of 0.304." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10135", "trajectory_length": 190, "key_frame_indices": [ 0, 108, 189 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10135.json" } }, { "id": "droid_cotrack_episode_6260", "task": "Put the can inside the top drawer", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6260/frame_0000.jpg", "droid-cotrack/images/episode_6260/frame_0141.jpg", "droid-cotrack/images/episode_6260/frame_0240.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the can inside the top drawer?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the can inside the top drawer, execute the following phases: 1) Initial approach phase (start at [0.390, 0.713]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.425, 0.099]). The trajectory involves 241 precise waypoints with total movement distance of 0.862." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6260", "trajectory_length": 241, "key_frame_indices": [ 0, 141, 240 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6260.json" } }, { "id": "droid_cotrack_episode_836", "task": "Open the lid of the electric kettle.; Push the button on the kettle; Open the kettle lid", "selected_step": 1, "image": [ "droid-cotrack/images/episode_836/frame_0000.jpg", "droid-cotrack/images/episode_836/frame_0040.jpg", "droid-cotrack/images/episode_836/frame_0148.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the lid of the electric kettle.; Push the button on the kettle; Open the kettle lid?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the lid of the electric kettle.; Push the button on the kettle; Open the kettle lid, execute the following phases: 1) Initial approach phase (start at [0.683, 0.282]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.682, 0.282]). The trajectory involves 149 precise waypoints with total movement distance of 0.120." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_836", "trajectory_length": 149, "key_frame_indices": [ 0, 40, 148 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_836.json" } }, { "id": "droid_cotrack_episode_1497", "task": "Pick up the sponge from the nightstand shelf and put it in the black lunchbox; Put the kitchen sponge on the black tray; Put the sponge in the black tupperware", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1497/frame_0000.jpg", "droid-cotrack/images/episode_1497/frame_0090.jpg", "droid-cotrack/images/episode_1497/frame_0139.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the sponge from the nightstand shelf and put it in the black lunchbox; Put the kitchen sponge on the black tray; Put the sponge in the black tupperware?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the sponge from the nightstand shelf and put it in the black lunchbox; Put the kitchen sponge on the black tray; Put the sponge in the black tupperware, execute the following phases: 1) Initial approach phase (start at [0.487, 0.510]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.491, 0.472]). The trajectory involves 140 precise waypoints with total movement distance of 0.127." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1497", "trajectory_length": 140, "key_frame_indices": [ 0, 90, 139 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1497.json" } }, { "id": "droid_cotrack_episode_2181", "task": "Remove one bottle from the container on the left and put it on the tray; Remove one of the bottles from the clear bowl and put it on the upper compartment of the tray; Get one object from the container and put it in the upper segment of the box", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2181/frame_0000.jpg", "droid-cotrack/images/episode_2181/frame_0060.jpg", "droid-cotrack/images/episode_2181/frame_0171.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove one bottle from the container on the left and put it on the tray; Remove one of the bottles from the clear bowl and put it on the upper compartment of the tray; Get one object from the container and put it in the upper segment of the box?" }, { "from": "gpt", "value": "To complete this repositioning: Remove one bottle from the container on the left and put it on the tray; Remove one of the bottles from the clear bowl and put it on the upper compartment of the tray; Get one object from the container and put it in the upper segment of the box, execute the following phases: 1) Initial approach phase (start at [0.511, 0.801]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.503, 0.797]). The trajectory involves 172 precise waypoints with total movement distance of 0.083." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2181", "trajectory_length": 172, "key_frame_indices": [ 0, 60, 171 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2181.json" } }, { "id": "droid_cotrack_episode_1067", "task": "Take the black marker out of the silver pot; Remove the marker from the pot and put it on the table; Remove the marker from the silver cup and place it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1067/frame_0000.jpg", "droid-cotrack/images/episode_1067/frame_0140.jpg", "droid-cotrack/images/episode_1067/frame_0245.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the black marker out of the silver pot; Remove the marker from the pot and put it on the table; Remove the marker from the silver cup and place it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Take the black marker out of the silver pot; Remove the marker from the pot and put it on the table; Remove the marker from the silver cup and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.527, 0.473]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.526, 0.474]). The trajectory involves 246 precise waypoints with total movement distance of 0.087." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1067", "trajectory_length": 246, "key_frame_indices": [ 0, 140, 245 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1067.json" } }, { "id": "droid_cotrack_episode_6590", "task": "Put the yellow block inside the blue cup; Put the yellow block inside the light blue cup; Take the yellow block from the table and place it in the blue cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6590/frame_0000.jpg", "droid-cotrack/images/episode_6590/frame_0030.jpg", "droid-cotrack/images/episode_6590/frame_0091.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the yellow block inside the blue cup; Put the yellow block inside the light blue cup; Take the yellow block from the table and place it in the blue cup?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the yellow block inside the blue cup; Put the yellow block inside the light blue cup; Take the yellow block from the table and place it in the blue cup, execute the following phases: 1) Initial approach phase (start at [0.487, 0.681]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.487, 0.677]). The trajectory involves 92 precise waypoints with total movement distance of 0.067." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6590", "trajectory_length": 92, "key_frame_indices": [ 0, 30, 91 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6590.json" } }, { "id": "droid_cotrack_episode_1615", "task": "Turn the tap nozzle to the left; Move the tap to the left; Move the tap nozzle to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1615/frame_0000.jpg", "droid-cotrack/images/episode_1615/frame_0076.jpg", "droid-cotrack/images/episode_1615/frame_0195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn the tap nozzle to the left; Move the tap to the left; Move the tap nozzle to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Turn the tap nozzle to the left; Move the tap to the left; Move the tap nozzle to the left, execute the following phases: 1) Initial approach phase (start at [0.469, 0.611]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.284, 0.615]). The trajectory involves 196 precise waypoints with total movement distance of 0.390." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1615", "trajectory_length": 196, "key_frame_indices": [ 0, 76, 195 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1615.json" } }, { "id": "droid_cotrack_episode_1073", "task": "Scoop some of the contents from the plate and pour them in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1073/frame_0000.jpg", "droid-cotrack/images/episode_1073/frame_0380.jpg", "droid-cotrack/images/episode_1073/frame_0414.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Scoop some of the contents from the plate and pour them in the bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Scoop some of the contents from the plate and pour them in the bowl, execute the following phases: 1) Initial approach phase (start at [0.566, 0.376]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.566, 0.386]). The trajectory involves 415 precise waypoints with total movement distance of 0.264." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1073", "trajectory_length": 415, "key_frame_indices": [ 0, 380, 414 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1073.json" } }, { "id": "droid_cotrack_episode_1985", "task": "Uncover the pot and put the lid on the stovetop; Remove the lid from the pot; Remove the lid from the pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1985/frame_0000.jpg", "droid-cotrack/images/episode_1985/frame_0215.jpg", "droid-cotrack/images/episode_1985/frame_0371.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Uncover the pot and put the lid on the stovetop; Remove the lid from the pot; Remove the lid from the pot?" }, { "from": "gpt", "value": "To complete this repositioning: Uncover the pot and put the lid on the stovetop; Remove the lid from the pot; Remove the lid from the pot, execute the following phases: 1) Initial approach phase (start at [0.659, 0.502]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.638, 0.542]). The trajectory involves 372 precise waypoints with total movement distance of 0.424." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1985", "trajectory_length": 372, "key_frame_indices": [ 0, 215, 371 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1985.json" } }, { "id": "droid_cotrack_episode_763", "task": "Put the red can on the bottom shelf.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_763/frame_0000.jpg", "droid-cotrack/images/episode_763/frame_0147.jpg", "droid-cotrack/images/episode_763/frame_0294.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the red can on the bottom shelf.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the red can on the bottom shelf., execute the following phases: 1) Initial approach phase (start at [0.322, 0.746]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.387, 0.258]). The trajectory involves 295 precise waypoints with total movement distance of 0.942." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_763", "trajectory_length": 295, "key_frame_indices": [ 0, 147, 294 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_763.json" } }, { "id": "droid_cotrack_episode_6764", "task": "Put the marker in the mug; Put the marker in the mug; Put the marker in the mug", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6764/frame_0000.jpg", "droid-cotrack/images/episode_6764/frame_0107.jpg", "droid-cotrack/images/episode_6764/frame_0185.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the mug; Put the marker in the mug; Put the marker in the mug?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the marker in the mug; Put the marker in the mug; Put the marker in the mug, execute the following phases: 1) Initial approach phase (start at [0.890, 0.686]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.710, 0.446]). The trajectory involves 186 precise waypoints with total movement distance of 0.831." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6764", "trajectory_length": 186, "key_frame_indices": [ 0, 107, 185 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6764.json" } }, { "id": "droid_cotrack_episode_1933", "task": "Pick up the pen from the yellow cup and put it on the table.; Pick up the pen from the yellow cup and put it on the table.; Remove the marker from the mug cup and place it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1933/frame_0000.jpg", "droid-cotrack/images/episode_1933/frame_0123.jpg", "droid-cotrack/images/episode_1933/frame_0132.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the pen from the yellow cup and put it on the table.; Pick up the pen from the yellow cup and put it on the table.; Remove the marker from the mug cup and place it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the pen from the yellow cup and put it on the table.; Pick up the pen from the yellow cup and put it on the table.; Remove the marker from the mug cup and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.544, 0.416]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.586, 0.434]). The trajectory involves 133 precise waypoints with total movement distance of 0.618." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1933", "trajectory_length": 133, "key_frame_indices": [ 0, 123, 132 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1933.json" } }, { "id": "droid_cotrack_episode_4231", "task": "Put the packet on the spoon and put the packet in the tray", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4231/frame_0000.jpg", "droid-cotrack/images/episode_4231/frame_0545.jpg", "droid-cotrack/images/episode_4231/frame_0631.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the packet on the spoon and put the packet in the tray?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the packet on the spoon and put the packet in the tray, execute the following phases: 1) Initial approach phase (start at [0.557, 0.587]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.558, 0.580]). The trajectory involves 632 precise waypoints with total movement distance of 0.626." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4231", "trajectory_length": 632, "key_frame_indices": [ 0, 545, 631 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4231.json" } }, { "id": "droid_cotrack_episode_4165", "task": "Put the rubik's cube on the top of the shelf", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4165/frame_0000.jpg", "droid-cotrack/images/episode_4165/frame_0099.jpg", "droid-cotrack/images/episode_4165/frame_0137.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the rubik's cube on the top of the shelf?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the rubik's cube on the top of the shelf, execute the following phases: 1) Initial approach phase (start at [0.642, 0.412]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.642, 0.128]). The trajectory involves 138 precise waypoints with total movement distance of 0.861." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4165", "trajectory_length": 138, "key_frame_indices": [ 0, 99, 137 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4165.json" } }, { "id": "droid_cotrack_episode_10319", "task": "Pick up the yellow object and put it in the cup; Put the yellow block inside the cup; Put the yellow block in the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10319/frame_0000.jpg", "droid-cotrack/images/episode_10319/frame_0111.jpg", "droid-cotrack/images/episode_10319/frame_0121.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the yellow object and put it in the cup; Put the yellow block inside the cup; Put the yellow block in the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the yellow object and put it in the cup; Put the yellow block inside the cup; Put the yellow block in the cup, execute the following phases: 1) Initial approach phase (start at [0.506, 0.644]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.598, 0.496]). The trajectory involves 122 precise waypoints with total movement distance of 0.625." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10319", "trajectory_length": 122, "key_frame_indices": [ 0, 111, 121 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10319.json" } }, { "id": "droid_cotrack_episode_1587", "task": "Remove the pen from the cup and put it on the table; Put the pen on the table; Remove the pen from the cup and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1587/frame_0000.jpg", "droid-cotrack/images/episode_1587/frame_0145.jpg", "droid-cotrack/images/episode_1587/frame_0159.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the pen from the cup and put it on the table; Put the pen on the table; Remove the pen from the cup and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the pen from the cup and put it on the table; Put the pen on the table; Remove the pen from the cup and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.430, 0.303]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.502, 0.434]). The trajectory involves 160 precise waypoints with total movement distance of 0.592." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1587", "trajectory_length": 160, "key_frame_indices": [ 0, 145, 159 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1587.json" } }, { "id": "droid_cotrack_episode_6206", "task": "Put the plush toy on the left stove plate; Put the white and black plush on the stove; Move the brown doll to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6206/frame_0000.jpg", "droid-cotrack/images/episode_6206/frame_0076.jpg", "droid-cotrack/images/episode_6206/frame_0114.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the plush toy on the left stove plate; Put the white and black plush on the stove; Move the brown doll to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Put the plush toy on the left stove plate; Put the white and black plush on the stove; Move the brown doll to the right, execute the following phases: 1) Initial approach phase (start at [0.415, 0.710]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.502, 0.702]). The trajectory involves 115 precise waypoints with total movement distance of 0.352." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6206", "trajectory_length": 115, "key_frame_indices": [ 0, 76, 114 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6206.json" } }, { "id": "droid_cotrack_episode_10198", "task": "Put the black cable in the compartment.; Pick up the black cable and put it in the box; Put the cables in the cable box", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10198/frame_0000.jpg", "droid-cotrack/images/episode_10198/frame_0143.jpg", "droid-cotrack/images/episode_10198/frame_0176.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the black cable in the compartment.; Pick up the black cable and put it in the box; Put the cables in the cable box?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the black cable in the compartment.; Pick up the black cable and put it in the box; Put the cables in the cable box, execute the following phases: 1) Initial approach phase (start at [0.624, 0.646]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.659, 0.545]). The trajectory involves 177 precise waypoints with total movement distance of 0.514." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10198", "trajectory_length": 177, "key_frame_indices": [ 0, 143, 176 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10198.json" } }, { "id": "droid_cotrack_episode_1999", "task": "Move the mug cup to the right; Move the cup slightly to right; Move the mug cup to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1999/frame_0000.jpg", "droid-cotrack/images/episode_1999/frame_0072.jpg", "droid-cotrack/images/episode_1999/frame_0124.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug cup to the right; Move the cup slightly to right; Move the mug cup to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug cup to the right; Move the cup slightly to right; Move the mug cup to the right, execute the following phases: 1) Initial approach phase (start at [0.509, 0.597]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.524, 0.638]). The trajectory involves 125 precise waypoints with total movement distance of 0.154." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1999", "trajectory_length": 125, "key_frame_indices": [ 0, 72, 124 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1999.json" } }, { "id": "droid_cotrack_episode_915", "task": "Remove the green cloth from the drawer and place it on the bed; Take the green clothing out of the open drawer and put it on the bed; Pick up green cloth from the drawer and put it on the bed", "selected_step": 1, "image": [ "droid-cotrack/images/episode_915/frame_0000.jpg", "droid-cotrack/images/episode_915/frame_0124.jpg", "droid-cotrack/images/episode_915/frame_0240.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the green cloth from the drawer and place it on the bed; Take the green clothing out of the open drawer and put it on the bed; Pick up green cloth from the drawer and put it on the bed?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Remove the green cloth from the drawer and place it on the bed; Take the green clothing out of the open drawer and put it on the bed; Pick up green cloth from the drawer and put it on the bed, execute the following phases: 1) Initial approach phase (start at [0.440, 0.757]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.436, 0.769]). The trajectory involves 241 precise waypoints with total movement distance of 0.152." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_915", "trajectory_length": 241, "key_frame_indices": [ 0, 124, 240 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_915.json" } }, { "id": "droid_cotrack_episode_10290", "task": "Remove the bolt from the hole; Put the yellow cube inside the blue cup; Pick up the nail from the brown, orange and blue object and place it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10290/frame_0000.jpg", "droid-cotrack/images/episode_10290/frame_0192.jpg", "droid-cotrack/images/episode_10290/frame_0236.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the bolt from the hole; Put the yellow cube inside the blue cup; Pick up the nail from the brown, orange and blue object and place it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Remove the bolt from the hole; Put the yellow cube inside the blue cup; Pick up the nail from the brown, orange and blue object and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.611, 0.685]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.595, 0.696]). The trajectory involves 237 precise waypoints with total movement distance of 0.458." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10290", "trajectory_length": 237, "key_frame_indices": [ 0, 192, 236 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10290.json" } }, { "id": "droid_cotrack_episode_4506", "task": "Use the whiteboard eraser to erase the whiteboard on the desk; Use the whiteboard eraser to wipe the whiteboard; Wipe the whiteboard using the eraser on the left side of the desk", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4506/frame_0000.jpg", "droid-cotrack/images/episode_4506/frame_0230.jpg", "droid-cotrack/images/episode_4506/frame_0425.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the whiteboard eraser to erase the whiteboard on the desk; Use the whiteboard eraser to wipe the whiteboard; Wipe the whiteboard using the eraser on the left side of the desk?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Use the whiteboard eraser to erase the whiteboard on the desk; Use the whiteboard eraser to wipe the whiteboard; Wipe the whiteboard using the eraser on the left side of the desk, execute the following phases: 1) Initial approach phase (start at [0.615, 0.638]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.625, 0.557]). The trajectory involves 426 precise waypoints with total movement distance of 1.067." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4506", "trajectory_length": 426, "key_frame_indices": [ 0, 230, 425 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4506.json" } }, { "id": "droid_cotrack_episode_1507", "task": "Put the gray tape in the black bowl; Put the masking tape in the bowl; Put the masking tape in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1507/frame_0000.jpg", "droid-cotrack/images/episode_1507/frame_0107.jpg", "droid-cotrack/images/episode_1507/frame_0169.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the gray tape in the black bowl; Put the masking tape in the bowl; Put the masking tape in the bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the gray tape in the black bowl; Put the masking tape in the bowl; Put the masking tape in the bowl, execute the following phases: 1) Initial approach phase (start at [0.681, 0.931]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.610, 0.456]). The trajectory involves 170 precise waypoints with total movement distance of 0.897." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1507", "trajectory_length": 170, "key_frame_indices": [ 0, 107, 169 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1507.json" } }, { "id": "droid_cotrack_episode_10216", "task": "Put the marker in the mug; Pick up the marker from the table and put it in the cup; Put the green marker inside the white and orange mug", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10216/frame_0000.jpg", "droid-cotrack/images/episode_10216/frame_0181.jpg", "droid-cotrack/images/episode_10216/frame_0189.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the mug; Pick up the marker from the table and put it in the cup; Put the green marker inside the white and orange mug?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the marker in the mug; Pick up the marker from the table and put it in the cup; Put the green marker inside the white and orange mug, execute the following phases: 1) Initial approach phase (start at [0.602, 0.498]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.606, 0.364]). The trajectory involves 190 precise waypoints with total movement distance of 0.392." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10216", "trajectory_length": 190, "key_frame_indices": [ 0, 181, 189 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10216.json" } }, { "id": "droid_cotrack_episode_6577", "task": "Move the bottle towards you; Move the container forwards; Move the bottle", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6577/frame_0000.jpg", "droid-cotrack/images/episode_6577/frame_0075.jpg", "droid-cotrack/images/episode_6577/frame_0157.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bottle towards you; Move the container forwards; Move the bottle?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bottle towards you; Move the container forwards; Move the bottle, execute the following phases: 1) Initial approach phase (start at [0.618, 0.397]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.705, 0.460]). The trajectory involves 158 precise waypoints with total movement distance of 0.459." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6577", "trajectory_length": 158, "key_frame_indices": [ 0, 75, 157 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6577.json" } }, { "id": "droid_cotrack_episode_6552", "task": "Move the white plush toy", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6552/frame_0000.jpg", "droid-cotrack/images/episode_6552/frame_0093.jpg", "droid-cotrack/images/episode_6552/frame_0132.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the white plush toy?" }, { "from": "gpt", "value": "To complete this repositioning: Move the white plush toy, execute the following phases: 1) Initial approach phase (start at [0.347, 0.618]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.413, 0.721]). The trajectory involves 133 precise waypoints with total movement distance of 0.233." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6552", "trajectory_length": 133, "key_frame_indices": [ 0, 93, 132 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6552.json" } }, { "id": "droid_cotrack_episode_6652", "task": "Close the open cabinet door; Close the open cabinet door; Close the left door of the top cabinet.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6652/frame_0000.jpg", "droid-cotrack/images/episode_6652/frame_0054.jpg", "droid-cotrack/images/episode_6652/frame_0137.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the open cabinet door; Close the open cabinet door; Close the left door of the top cabinet.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the open cabinet door; Close the open cabinet door; Close the left door of the top cabinet., execute the following phases: 1) Initial approach phase (start at [0.553, 0.387]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.561, 0.393]). The trajectory involves 138 precise waypoints with total movement distance of 0.215." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6652", "trajectory_length": 138, "key_frame_indices": [ 0, 54, 137 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6652.json" } }, { "id": "droid_cotrack_episode_1388", "task": "Put a tissue on the table; Pull out one tissue square from the tissue box; Take a piece of tissue from the tissue box and place it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1388/frame_0000.jpg", "droid-cotrack/images/episode_1388/frame_0110.jpg", "droid-cotrack/images/episode_1388/frame_0159.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put a tissue on the table; Pull out one tissue square from the tissue box; Take a piece of tissue from the tissue box and place it on the table?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put a tissue on the table; Pull out one tissue square from the tissue box; Take a piece of tissue from the tissue box and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.533, 0.674]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.642, 0.600]). The trajectory involves 160 precise waypoints with total movement distance of 0.545." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1388", "trajectory_length": 160, "key_frame_indices": [ 0, 110, 159 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1388.json" } }, { "id": "droid_cotrack_episode_6379", "task": "Move the mug to the right; Pick the cup and move the right on the table; Move the green cup to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6379/frame_0000.jpg", "droid-cotrack/images/episode_6379/frame_0173.jpg", "droid-cotrack/images/episode_6379/frame_0267.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug to the right; Pick the cup and move the right on the table; Move the green cup to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug to the right; Pick the cup and move the right on the table; Move the green cup to the right, execute the following phases: 1) Initial approach phase (start at [0.635, 0.519]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.737, 0.452]). The trajectory involves 268 precise waypoints with total movement distance of 0.399." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6379", "trajectory_length": 268, "key_frame_indices": [ 0, 173, 267 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6379.json" } }, { "id": "droid_cotrack_episode_4508", "task": "Take the Allen key out of the mug and put it on the box; Take the orange tool from the mug and put it on the box; Remove the pencil from the mug cup and place it on the box", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4508/frame_0000.jpg", "droid-cotrack/images/episode_4508/frame_0001.jpg", "droid-cotrack/images/episode_4508/frame_0164.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the Allen key out of the mug and put it on the box; Take the orange tool from the mug and put it on the box; Remove the pencil from the mug cup and place it on the box?" }, { "from": "gpt", "value": "To complete this repositioning: Take the Allen key out of the mug and put it on the box; Take the orange tool from the mug and put it on the box; Remove the pencil from the mug cup and place it on the box, execute the following phases: 1) Initial approach phase (start at [0.653, 0.500]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.654, 0.494]). The trajectory involves 165 precise waypoints with total movement distance of 0.047." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4508", "trajectory_length": 165, "key_frame_indices": [ 0, 1, 164 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4508.json" } }, { "id": "droid_cotrack_episode_408", "task": "Put the marker in the cup; Put the marker in the cup; Pick up the marker and put it in the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_408/frame_0000.jpg", "droid-cotrack/images/episode_408/frame_0160.jpg", "droid-cotrack/images/episode_408/frame_0357.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the cup; Put the marker in the cup; Pick up the marker and put it in the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the marker in the cup; Put the marker in the cup; Pick up the marker and put it in the cup, execute the following phases: 1) Initial approach phase (start at [0.618, 0.680]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.611, 0.644]). The trajectory involves 358 precise waypoints with total movement distance of 0.796." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_408", "trajectory_length": 358, "key_frame_indices": [ 0, 160, 357 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_408.json" } }, { "id": "droid_cotrack_episode_752", "task": "Take the pen out of the cup and put it on the desk; Take the marker out of the yellow mug; Pick up the pen from the yellow cup and put it on the table.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_752/frame_0000.jpg", "droid-cotrack/images/episode_752/frame_0203.jpg", "droid-cotrack/images/episode_752/frame_0219.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the pen out of the cup and put it on the desk; Take the marker out of the yellow mug; Pick up the pen from the yellow cup and put it on the table.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Take the pen out of the cup and put it on the desk; Take the marker out of the yellow mug; Pick up the pen from the yellow cup and put it on the table., execute the following phases: 1) Initial approach phase (start at [0.664, 0.727]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.920, 0.777]). The trajectory involves 220 precise waypoints with total movement distance of 1.038." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_752", "trajectory_length": 220, "key_frame_indices": [ 0, 203, 219 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_752.json" } }, { "id": "droid_cotrack_episode_1482", "task": "Take the pen out of the cup and place it on the counter; Take the blue marker out of the green cup and put it on the countertop; Remove the marker from the cup and put it on the counter", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1482/frame_0000.jpg", "droid-cotrack/images/episode_1482/frame_0075.jpg", "droid-cotrack/images/episode_1482/frame_0100.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the pen out of the cup and place it on the counter; Take the blue marker out of the green cup and put it on the countertop; Remove the marker from the cup and put it on the counter?" }, { "from": "gpt", "value": "To complete this repositioning: Take the pen out of the cup and place it on the counter; Take the blue marker out of the green cup and put it on the countertop; Remove the marker from the cup and put it on the counter, execute the following phases: 1) Initial approach phase (start at [0.606, 0.596]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.480, 0.684]). The trajectory involves 101 precise waypoints with total movement distance of 0.691." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1482", "trajectory_length": 101, "key_frame_indices": [ 0, 75, 100 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1482.json" } }, { "id": "droid_cotrack_episode_834", "task": "Move the black marker slightly to the left; Move the black marker slightly to the left; Move the marker slightly to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_834/frame_0000.jpg", "droid-cotrack/images/episode_834/frame_0096.jpg", "droid-cotrack/images/episode_834/frame_0134.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the black marker slightly to the left; Move the black marker slightly to the left; Move the marker slightly to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the black marker slightly to the left; Move the black marker slightly to the left; Move the marker slightly to the left, execute the following phases: 1) Initial approach phase (start at [0.672, 0.485]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.621, 0.484]). The trajectory involves 135 precise waypoints with total movement distance of 0.209." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_834", "trajectory_length": 135, "key_frame_indices": [ 0, 96, 134 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_834.json" } }, { "id": "droid_cotrack_episode_4018", "task": "Put the orange block on the table; Remove the orange object from the top of the green object and put it on the table; Put the orange block on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4018/frame_0000.jpg", "droid-cotrack/images/episode_4018/frame_0131.jpg", "droid-cotrack/images/episode_4018/frame_0152.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange block on the table; Remove the orange object from the top of the green object and put it on the table; Put the orange block on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Put the orange block on the table; Remove the orange object from the top of the green object and put it on the table; Put the orange block on the table, execute the following phases: 1) Initial approach phase (start at [0.434, 0.460]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.387, 0.520]). The trajectory involves 153 precise waypoints with total movement distance of 0.219." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4018", "trajectory_length": 153, "key_frame_indices": [ 0, 131, 152 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4018.json" } }, { "id": "droid_cotrack_episode_6389", "task": "Plug the charger head in the middle of the adapter", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6389/frame_0000.jpg", "droid-cotrack/images/episode_6389/frame_0151.jpg", "droid-cotrack/images/episode_6389/frame_0505.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Plug the charger head in the middle of the adapter?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Plug the charger head in the middle of the adapter, execute the following phases: 1) Initial approach phase (start at [0.631, 0.690]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.631, 0.691]). The trajectory involves 506 precise waypoints with total movement distance of 0.203." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6389", "trajectory_length": 506, "key_frame_indices": [ 0, 151, 505 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6389.json" } }, { "id": "droid_cotrack_episode_6211", "task": "Put the pineapple plushy in the box; Put the pineapple plush in the basket; Put the pineapple plushy in the basket", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6211/frame_0000.jpg", "droid-cotrack/images/episode_6211/frame_0106.jpg", "droid-cotrack/images/episode_6211/frame_0187.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pineapple plushy in the box; Put the pineapple plush in the basket; Put the pineapple plushy in the basket?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the pineapple plushy in the box; Put the pineapple plush in the basket; Put the pineapple plushy in the basket, execute the following phases: 1) Initial approach phase (start at [0.728, 0.714]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.576, 0.573]). The trajectory involves 188 precise waypoints with total movement distance of 0.695." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6211", "trajectory_length": 188, "key_frame_indices": [ 0, 106, 187 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6211.json" } }, { "id": "droid_cotrack_episode_10266", "task": "reposition the cloth", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10266/frame_0000.jpg", "droid-cotrack/images/episode_10266/frame_0194.jpg", "droid-cotrack/images/episode_10266/frame_0247.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: reposition the cloth?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: reposition the cloth, execute the following phases: 1) Initial approach phase (start at [0.511, 0.613]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.590, 0.686]). The trajectory involves 248 precise waypoints with total movement distance of 0.335." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10266", "trajectory_length": 248, "key_frame_indices": [ 0, 194, 247 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10266.json" } }, { "id": "droid_cotrack_episode_4098", "task": "Perform droid_cotrack manipulation task", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4098/frame_0000.jpg", "droid-cotrack/images/episode_4098/frame_0170.jpg", "droid-cotrack/images/episode_4098/frame_0341.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Perform droid_cotrack manipulation task?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Perform droid_cotrack manipulation task, execute the following phases: 1) Initial approach phase (start at [0.620, 0.223]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.621, 0.222]). The trajectory involves 342 precise waypoints with total movement distance of 0.136." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4098", "trajectory_length": 342, "key_frame_indices": [ 0, 170, 341 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4098.json" } }, { "id": "droid_cotrack_episode_1791", "task": "Place the black bowl on the top right stove plate", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1791/frame_0000.jpg", "droid-cotrack/images/episode_1791/frame_0100.jpg", "droid-cotrack/images/episode_1791/frame_0181.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the black bowl on the top right stove plate?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Place the black bowl on the top right stove plate, execute the following phases: 1) Initial approach phase (start at [-0.288, 1.379]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.609, 0.587]). The trajectory involves 182 precise waypoints with total movement distance of 2.260." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1791", "trajectory_length": 182, "key_frame_indices": [ 0, 100, 181 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1791.json" } }, { "id": "droid_cotrack_episode_10238", "task": "Move the faucet spout to the right; Turn the tap nozzle to the right; Move the faucet to the right.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10238/frame_0000.jpg", "droid-cotrack/images/episode_10238/frame_0058.jpg", "droid-cotrack/images/episode_10238/frame_0072.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the faucet spout to the right; Turn the tap nozzle to the right; Move the faucet to the right.?" }, { "from": "gpt", "value": "To complete this repositioning: Move the faucet spout to the right; Turn the tap nozzle to the right; Move the faucet to the right., execute the following phases: 1) Initial approach phase (start at [0.412, 0.453]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.422, 0.447]). The trajectory involves 73 precise waypoints with total movement distance of 0.048." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10238", "trajectory_length": 73, "key_frame_indices": [ 0, 58, 72 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10238.json" } }, { "id": "droid_cotrack_episode_4323", "task": "Put the purple ball in the bowl on the plate; Remove the purple ball from the bowl and put it on the plate; Put the purple ball in the bowl on the plate", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4323/frame_0000.jpg", "droid-cotrack/images/episode_4323/frame_0145.jpg", "droid-cotrack/images/episode_4323/frame_0289.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the purple ball in the bowl on the plate; Remove the purple ball from the bowl and put it on the plate; Put the purple ball in the bowl on the plate?" }, { "from": "gpt", "value": "To complete this repositioning: Put the purple ball in the bowl on the plate; Remove the purple ball from the bowl and put it on the plate; Put the purple ball in the bowl on the plate, execute the following phases: 1) Initial approach phase (start at [0.587, 0.710]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.588, 0.711]). The trajectory involves 290 precise waypoints with total movement distance of 0.104." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4323", "trajectory_length": 290, "key_frame_indices": [ 0, 145, 289 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4323.json" } }, { "id": "droid_cotrack_episode_187", "task": "Put the orange marker on the table; Take the marker out of the mug and put it on the table; Take the marker out of the mug and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_187/frame_0000.jpg", "droid-cotrack/images/episode_187/frame_0126.jpg", "droid-cotrack/images/episode_187/frame_0157.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange marker on the table; Take the marker out of the mug and put it on the table; Take the marker out of the mug and put it on the table?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the orange marker on the table; Take the marker out of the mug and put it on the table; Take the marker out of the mug and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.671, 0.282]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.588, 0.464]). The trajectory involves 158 precise waypoints with total movement distance of 0.539." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_187", "trajectory_length": 158, "key_frame_indices": [ 0, 126, 157 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_187.json" } }, { "id": "droid_cotrack_episode_582", "task": "Take the brown cup out of the sink and put it on thee sink countertop; Remove the cup out of the sink; Take the cup in the sink and put it on the counter", "selected_step": 1, "image": [ "droid-cotrack/images/episode_582/frame_0000.jpg", "droid-cotrack/images/episode_582/frame_0078.jpg", "droid-cotrack/images/episode_582/frame_0122.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the brown cup out of the sink and put it on thee sink countertop; Remove the cup out of the sink; Take the cup in the sink and put it on the counter?" }, { "from": "gpt", "value": "To complete this repositioning: Take the brown cup out of the sink and put it on thee sink countertop; Remove the cup out of the sink; Take the cup in the sink and put it on the counter, execute the following phases: 1) Initial approach phase (start at [0.406, 0.652]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.389, 0.639]). The trajectory involves 123 precise waypoints with total movement distance of 0.254." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_582", "trajectory_length": 123, "key_frame_indices": [ 0, 78, 122 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_582.json" } }, { "id": "droid_cotrack_episode_438", "task": "Get the blue cup and stack it in the orange cup; Put the blue cup in the orange cup; Put the blue cup into the orange one", "selected_step": 1, "image": [ "droid-cotrack/images/episode_438/frame_0000.jpg", "droid-cotrack/images/episode_438/frame_0116.jpg", "droid-cotrack/images/episode_438/frame_0140.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Get the blue cup and stack it in the orange cup; Put the blue cup in the orange cup; Put the blue cup into the orange one?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Get the blue cup and stack it in the orange cup; Put the blue cup in the orange cup; Put the blue cup into the orange one, execute the following phases: 1) Initial approach phase (start at [0.549, 0.680]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.566, 0.618]). The trajectory involves 141 precise waypoints with total movement distance of 0.270." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_438", "trajectory_length": 141, "key_frame_indices": [ 0, 116, 140 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_438.json" } }, { "id": "droid_cotrack_episode_4125", "task": "Use the towel to wipe the table; Use the towel to wipe the table; Use the towel to wipe the tabletop.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4125/frame_0000.jpg", "droid-cotrack/images/episode_4125/frame_0300.jpg", "droid-cotrack/images/episode_4125/frame_0326.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the towel to wipe the table; Use the towel to wipe the table; Use the towel to wipe the tabletop.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Use the towel to wipe the table; Use the towel to wipe the table; Use the towel to wipe the tabletop., execute the following phases: 1) Initial approach phase (start at [0.578, 0.622]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.556, 0.640]). The trajectory involves 327 precise waypoints with total movement distance of 2.481." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4125", "trajectory_length": 327, "key_frame_indices": [ 0, 300, 326 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4125.json" } }, { "id": "droid_cotrack_episode_2264", "task": "Take the pen out of the mug and put it on the table; Put the pen on the table; Remove the pen from the mug and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2264/frame_0000.jpg", "droid-cotrack/images/episode_2264/frame_0001.jpg", "droid-cotrack/images/episode_2264/frame_0140.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the pen out of the mug and put it on the table; Put the pen on the table; Remove the pen from the mug and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Take the pen out of the mug and put it on the table; Put the pen on the table; Remove the pen from the mug and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.572, 0.231]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.603, 0.391]). The trajectory involves 141 precise waypoints with total movement distance of 1.346." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2264", "trajectory_length": 141, "key_frame_indices": [ 0, 1, 140 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2264.json" } }, { "id": "droid_cotrack_episode_4109", "task": "Put the carrot on the silver pan; Put the carrot plush toy on the silver pan.; Pick up the carrot plush toy and put it on the frying pan", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4109/frame_0000.jpg", "droid-cotrack/images/episode_4109/frame_0125.jpg", "droid-cotrack/images/episode_4109/frame_0151.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the carrot on the silver pan; Put the carrot plush toy on the silver pan.; Pick up the carrot plush toy and put it on the frying pan?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the carrot on the silver pan; Put the carrot plush toy on the silver pan.; Pick up the carrot plush toy and put it on the frying pan, execute the following phases: 1) Initial approach phase (start at [0.580, 0.618]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.480, 0.506]). The trajectory involves 152 precise waypoints with total movement distance of 0.298." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4109", "trajectory_length": 152, "key_frame_indices": [ 0, 125, 151 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4109.json" } }, { "id": "droid_cotrack_episode_4282", "task": "Put the silver lid on top of the silver tin; Put the silver lid on top of the silver container; Close the candle tin with the lid", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4282/frame_0000.jpg", "droid-cotrack/images/episode_4282/frame_0056.jpg", "droid-cotrack/images/episode_4282/frame_0375.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the silver lid on top of the silver tin; Put the silver lid on top of the silver container; Close the candle tin with the lid?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Put the silver lid on top of the silver tin; Put the silver lid on top of the silver container; Close the candle tin with the lid, execute the following phases: 1) Initial approach phase (start at [0.702, 0.450]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.696, 0.446]). The trajectory involves 376 precise waypoints with total movement distance of 0.173." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4282", "trajectory_length": 376, "key_frame_indices": [ 0, 56, 375 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4282.json" } }, { "id": "droid_cotrack_episode_1117", "task": "Place the white lid on top of the food container; Put the white lid on the storage container, then push the button down; Place the white lid on top of the clear food container.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1117/frame_0000.jpg", "droid-cotrack/images/episode_1117/frame_0106.jpg", "droid-cotrack/images/episode_1117/frame_0250.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the white lid on top of the food container; Put the white lid on the storage container, then push the button down; Place the white lid on top of the clear food container.?" }, { "from": "gpt", "value": "To complete this button/switch activation: Place the white lid on top of the food container; Put the white lid on the storage container, then push the button down; Place the white lid on top of the clear food container., execute the following phases: 1) Initial approach phase (start at [0.591, 0.616]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.583, 0.612]). The trajectory involves 251 precise waypoints with total movement distance of 0.180." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1117", "trajectory_length": 251, "key_frame_indices": [ 0, 106, 250 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1117.json" } }, { "id": "droid_cotrack_episode_4064", "task": "Pick the pen on the table and put it in the bowl; Put the pen in the bowl; Put the marker inside the grey bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4064/frame_0000.jpg", "droid-cotrack/images/episode_4064/frame_0096.jpg", "droid-cotrack/images/episode_4064/frame_0110.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the pen on the table and put it in the bowl; Put the pen in the bowl; Put the marker inside the grey bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the pen on the table and put it in the bowl; Put the pen in the bowl; Put the marker inside the grey bowl, execute the following phases: 1) Initial approach phase (start at [0.396, 0.513]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.542, 0.693]). The trajectory involves 111 precise waypoints with total movement distance of 0.614." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4064", "trajectory_length": 111, "key_frame_indices": [ 0, 96, 110 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4064.json" } }, { "id": "droid_cotrack_episode_1642", "task": "Take the blue marker out of the white pot; Move the cup to the table; Remove the blue cup from the pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1642/frame_0000.jpg", "droid-cotrack/images/episode_1642/frame_0088.jpg", "droid-cotrack/images/episode_1642/frame_0139.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the blue marker out of the white pot; Move the cup to the table; Remove the blue cup from the pot?" }, { "from": "gpt", "value": "To complete this repositioning: Take the blue marker out of the white pot; Move the cup to the table; Remove the blue cup from the pot, execute the following phases: 1) Initial approach phase (start at [0.651, 0.426]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.530, 0.374]). The trajectory involves 140 precise waypoints with total movement distance of 0.528." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1642", "trajectory_length": 140, "key_frame_indices": [ 0, 88, 139 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1642.json" } }, { "id": "droid_cotrack_episode_10225", "task": "Pick the lid on the counter and put it on the pot; Put the silver lid on top of the silver pot.; Place the lid on the pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10225/frame_0000.jpg", "droid-cotrack/images/episode_10225/frame_0164.jpg", "droid-cotrack/images/episode_10225/frame_0234.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the lid on the counter and put it on the pot; Put the silver lid on top of the silver pot.; Place the lid on the pot?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the lid on the counter and put it on the pot; Put the silver lid on top of the silver pot.; Place the lid on the pot, execute the following phases: 1) Initial approach phase (start at [0.528, 0.744]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.799, 0.992]). The trajectory involves 235 precise waypoints with total movement distance of 0.790." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10225", "trajectory_length": 235, "key_frame_indices": [ 0, 164, 234 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10225.json" } }, { "id": "droid_cotrack_episode_1217", "task": "Push the clear storage box; Push the basket inside; Slide the storage box inwards", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1217/frame_0000.jpg", "droid-cotrack/images/episode_1217/frame_0101.jpg", "droid-cotrack/images/episode_1217/frame_0126.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the clear storage box; Push the basket inside; Slide the storage box inwards?" }, { "from": "gpt", "value": "To complete this repositioning: Push the clear storage box; Push the basket inside; Slide the storage box inwards, execute the following phases: 1) Initial approach phase (start at [0.577, 0.729]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.492, 0.716]). The trajectory involves 127 precise waypoints with total movement distance of 0.170." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1217", "trajectory_length": 127, "key_frame_indices": [ 0, 101, 126 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1217.json" } }, { "id": "droid_cotrack_episode_4213", "task": "Take the zucchini from the grey plate and put it on the blue plate; Take the zucchini from the grey plate and put it on the blue plate; Pick up the green plant from the grey plate and put it in the blue plate.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4213/frame_0000.jpg", "droid-cotrack/images/episode_4213/frame_0183.jpg", "droid-cotrack/images/episode_4213/frame_0296.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the zucchini from the grey plate and put it on the blue plate; Take the zucchini from the grey plate and put it on the blue plate; Pick up the green plant from the grey plate and put it in the blue plate.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Take the zucchini from the grey plate and put it on the blue plate; Take the zucchini from the grey plate and put it on the blue plate; Pick up the green plant from the grey plate and put it in the blue plate., execute the following phases: 1) Initial approach phase (start at [0.965, 0.723]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.967, 0.715]). The trajectory involves 297 precise waypoints with total movement distance of 0.190." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4213", "trajectory_length": 297, "key_frame_indices": [ 0, 183, 296 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4213.json" } }, { "id": "droid_cotrack_episode_1900", "task": "Press the button near the number 5 on the machine; Press down on the machine; Push the first small button from the left on the washing machine on the right three times", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1900/frame_0000.jpg", "droid-cotrack/images/episode_1900/frame_0217.jpg", "droid-cotrack/images/episode_1900/frame_0250.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Press the button near the number 5 on the machine; Press down on the machine; Push the first small button from the left on the washing machine on the right three times?" }, { "from": "gpt", "value": "To complete this button/switch activation: Press the button near the number 5 on the machine; Press down on the machine; Push the first small button from the left on the washing machine on the right three times, execute the following phases: 1) Initial approach phase (start at [0.445, 0.876]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.444, 0.877]). The trajectory involves 251 precise waypoints with total movement distance of 0.137." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1900", "trajectory_length": 251, "key_frame_indices": [ 0, 217, 250 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1900.json" } }, { "id": "droid_cotrack_episode_853", "task": "Pick up the plush toy from the stove and put it inside the silver pot in the sink; Put the doll in the pot in the sink; Pick up the plush toy from the stove and put it in the pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_853/frame_0000.jpg", "droid-cotrack/images/episode_853/frame_0055.jpg", "droid-cotrack/images/episode_853/frame_0146.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the plush toy from the stove and put it inside the silver pot in the sink; Put the doll in the pot in the sink; Pick up the plush toy from the stove and put it in the pot?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the plush toy from the stove and put it inside the silver pot in the sink; Put the doll in the pot in the sink; Pick up the plush toy from the stove and put it in the pot, execute the following phases: 1) Initial approach phase (start at [0.478, 0.625]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.480, 0.625]). The trajectory involves 147 precise waypoints with total movement distance of 0.059." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_853", "trajectory_length": 147, "key_frame_indices": [ 0, 55, 146 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_853.json" } }, { "id": "droid_cotrack_episode_1442", "task": "reposition the hanger", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1442/frame_0000.jpg", "droid-cotrack/images/episode_1442/frame_0173.jpg", "droid-cotrack/images/episode_1442/frame_0280.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: reposition the hanger?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: reposition the hanger, execute the following phases: 1) Initial approach phase (start at [0.665, 0.358]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.680, 0.416]). The trajectory involves 281 precise waypoints with total movement distance of 1.011." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1442", "trajectory_length": 281, "key_frame_indices": [ 0, 173, 280 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1442.json" } }, { "id": "droid_cotrack_episode_6734", "task": "Pick up the blue cloth from the headrest of the chair and put it in the box; Put the blue bandana in the white storage box.; Move the clothes on the chair to the box", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6734/frame_0000.jpg", "droid-cotrack/images/episode_6734/frame_0131.jpg", "droid-cotrack/images/episode_6734/frame_0233.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the blue cloth from the headrest of the chair and put it in the box; Put the blue bandana in the white storage box.; Move the clothes on the chair to the box?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the blue cloth from the headrest of the chair and put it in the box; Put the blue bandana in the white storage box.; Move the clothes on the chair to the box, execute the following phases: 1) Initial approach phase (start at [0.506, 0.728]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.735]). The trajectory involves 234 precise waypoints with total movement distance of 0.118." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6734", "trajectory_length": 234, "key_frame_indices": [ 0, 131, 233 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6734.json" } }, { "id": "droid_cotrack_episode_4468", "task": "Stir in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4468/frame_0000.jpg", "droid-cotrack/images/episode_4468/frame_0141.jpg", "droid-cotrack/images/episode_4468/frame_0349.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Stir in the bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Stir in the bowl, execute the following phases: 1) Initial approach phase (start at [0.644, 0.584]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.652, 0.605]). The trajectory involves 350 precise waypoints with total movement distance of 0.412." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4468", "trajectory_length": 350, "key_frame_indices": [ 0, 141, 349 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4468.json" } }, { "id": "droid_cotrack_episode_1206", "task": "Turn the tap to the left; Move the tap to the left; Push the faucet to the left slightly", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1206/frame_0000.jpg", "droid-cotrack/images/episode_1206/frame_0104.jpg", "droid-cotrack/images/episode_1206/frame_0138.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn the tap to the left; Move the tap to the left; Push the faucet to the left slightly?" }, { "from": "gpt", "value": "To complete this repositioning: Turn the tap to the left; Move the tap to the left; Push the faucet to the left slightly, execute the following phases: 1) Initial approach phase (start at [0.636, 0.706]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.635, 0.705]). The trajectory involves 139 precise waypoints with total movement distance of 0.048." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1206", "trajectory_length": 139, "key_frame_indices": [ 0, 104, 138 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1206.json" } }, { "id": "droid_cotrack_episode_1821", "task": "Open the lid of the container; Lift the lid of the white and blue bottle; Open the lid of the bottle", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1821/frame_0000.jpg", "droid-cotrack/images/episode_1821/frame_0228.jpg", "droid-cotrack/images/episode_1821/frame_0397.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the lid of the container; Lift the lid of the white and blue bottle; Open the lid of the bottle?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the lid of the container; Lift the lid of the white and blue bottle; Open the lid of the bottle, execute the following phases: 1) Initial approach phase (start at [0.426, 0.512]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.428, 0.510]). The trajectory involves 398 precise waypoints with total movement distance of 0.135." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1821", "trajectory_length": 398, "key_frame_indices": [ 0, 228, 397 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1821.json" } }, { "id": "droid_cotrack_episode_6382", "task": "Push down the switch of the toaster", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6382/frame_0000.jpg", "droid-cotrack/images/episode_6382/frame_0099.jpg", "droid-cotrack/images/episode_6382/frame_0113.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push down the switch of the toaster?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push down the switch of the toaster, execute the following phases: 1) Initial approach phase (start at [0.414, 0.512]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.415, 0.511]). The trajectory involves 114 precise waypoints with total movement distance of 0.036." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6382", "trajectory_length": 114, "key_frame_indices": [ 0, 99, 113 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6382.json" } }, { "id": "droid_cotrack_episode_2178", "task": "Move the scissors away from the silver lid; Move the scissors to the left; Move the scissors to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2178/frame_0000.jpg", "droid-cotrack/images/episode_2178/frame_0210.jpg", "droid-cotrack/images/episode_2178/frame_0224.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the scissors away from the silver lid; Move the scissors to the left; Move the scissors to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the scissors away from the silver lid; Move the scissors to the left; Move the scissors to the left, execute the following phases: 1) Initial approach phase (start at [0.625, 0.826]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.800, 0.994]). The trajectory involves 225 precise waypoints with total movement distance of 1.250." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2178", "trajectory_length": 225, "key_frame_indices": [ 0, 210, 224 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2178.json" } }, { "id": "droid_cotrack_episode_4336", "task": "Remove the orange can from the sink", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4336/frame_0000.jpg", "droid-cotrack/images/episode_4336/frame_0148.jpg", "droid-cotrack/images/episode_4336/frame_0266.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the orange can from the sink?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the orange can from the sink, execute the following phases: 1) Initial approach phase (start at [0.503, 0.864]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.262, 0.653]). The trajectory involves 267 precise waypoints with total movement distance of 0.581." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4336", "trajectory_length": 267, "key_frame_indices": [ 0, 148, 266 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4336.json" } }, { "id": "droid_cotrack_episode_465", "task": "Put the green can in the sink.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_465/frame_0000.jpg", "droid-cotrack/images/episode_465/frame_0034.jpg", "droid-cotrack/images/episode_465/frame_0229.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the green can in the sink.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the green can in the sink., execute the following phases: 1) Initial approach phase (start at [0.286, 0.692]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.457, 0.831]). The trajectory involves 230 precise waypoints with total movement distance of 0.550." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_465", "trajectory_length": 230, "key_frame_indices": [ 0, 34, 229 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_465.json" } }, { "id": "droid_cotrack_episode_6397", "task": "Pour the snacks in the orange packet on the white plate at the front of the counter.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6397/frame_0000.jpg", "droid-cotrack/images/episode_6397/frame_0206.jpg", "droid-cotrack/images/episode_6397/frame_0327.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour the snacks in the orange packet on the white plate at the front of the counter.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Pour the snacks in the orange packet on the white plate at the front of the counter., execute the following phases: 1) Initial approach phase (start at [0.729, 0.759]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.710, 0.716]). The trajectory involves 328 precise waypoints with total movement distance of 0.911." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6397", "trajectory_length": 328, "key_frame_indices": [ 0, 206, 327 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6397.json" } }, { "id": "droid_cotrack_episode_6826", "task": "Pick up the green object from the stove and put it in the pot which is in the sink; Put the green grapes inside the silver pot.; Pick up the green object from the stove and put it in the pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6826/frame_0000.jpg", "droid-cotrack/images/episode_6826/frame_0165.jpg", "droid-cotrack/images/episode_6826/frame_0174.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the green object from the stove and put it in the pot which is in the sink; Put the green grapes inside the silver pot.; Pick up the green object from the stove and put it in the pot?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the green object from the stove and put it in the pot which is in the sink; Put the green grapes inside the silver pot.; Pick up the green object from the stove and put it in the pot, execute the following phases: 1) Initial approach phase (start at [0.464, 0.536]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.633, 0.721]). The trajectory involves 175 precise waypoints with total movement distance of 0.587." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6826", "trajectory_length": 175, "key_frame_indices": [ 0, 165, 174 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6826.json" } }, { "id": "droid_cotrack_episode_1367", "task": "Move the mug to the left; Move the green cup to the left; Move the mug cup to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1367/frame_0000.jpg", "droid-cotrack/images/episode_1367/frame_0121.jpg", "droid-cotrack/images/episode_1367/frame_0177.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug to the left; Move the green cup to the left; Move the mug cup to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug to the left; Move the green cup to the left; Move the mug cup to the left, execute the following phases: 1) Initial approach phase (start at [0.578, 0.365]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.475, 0.377]). The trajectory involves 178 precise waypoints with total movement distance of 0.182." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1367", "trajectory_length": 178, "key_frame_indices": [ 0, 121, 177 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1367.json" } }, { "id": "droid_cotrack_episode_6293", "task": "Take the black packet out of the sink and put it on the left side of the counter.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6293/frame_0000.jpg", "droid-cotrack/images/episode_6293/frame_0179.jpg", "droid-cotrack/images/episode_6293/frame_0259.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the black packet out of the sink and put it on the left side of the counter.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Take the black packet out of the sink and put it on the left side of the counter., execute the following phases: 1) Initial approach phase (start at [0.525, 0.950]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.299, 0.771]). The trajectory involves 260 precise waypoints with total movement distance of 0.674." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6293", "trajectory_length": 260, "key_frame_indices": [ 0, 179, 259 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6293.json" } }, { "id": "droid_cotrack_episode_6098", "task": "Put up the bottle and put it near the edge of of the countertop; Move the dispenser to the left; Move the green pump bottle forwards", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6098/frame_0000.jpg", "droid-cotrack/images/episode_6098/frame_0109.jpg", "droid-cotrack/images/episode_6098/frame_0187.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put up the bottle and put it near the edge of of the countertop; Move the dispenser to the left; Move the green pump bottle forwards?" }, { "from": "gpt", "value": "To complete this repositioning: Put up the bottle and put it near the edge of of the countertop; Move the dispenser to the left; Move the green pump bottle forwards, execute the following phases: 1) Initial approach phase (start at [0.371, 0.063]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.374, 0.064]). The trajectory involves 188 precise waypoints with total movement distance of 0.205." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6098", "trajectory_length": 188, "key_frame_indices": [ 0, 109, 187 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6098.json" } }, { "id": "droid_cotrack_episode_1448", "task": "Pick up the pen from the black mug cup and put it on the table.; Pick the marker in the cup and put it on the table; Take the blue pen out of the mug", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1448/frame_0000.jpg", "droid-cotrack/images/episode_1448/frame_0097.jpg", "droid-cotrack/images/episode_1448/frame_0127.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the pen from the black mug cup and put it on the table.; Pick the marker in the cup and put it on the table; Take the blue pen out of the mug?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the pen from the black mug cup and put it on the table.; Pick the marker in the cup and put it on the table; Take the blue pen out of the mug, execute the following phases: 1) Initial approach phase (start at [0.350, 0.339]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.436, 0.478]). The trajectory involves 128 precise waypoints with total movement distance of 0.480." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1448", "trajectory_length": 128, "key_frame_indices": [ 0, 97, 127 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1448.json" } }, { "id": "droid_cotrack_episode_1299", "task": "Remove the spoon from the red mug and place it in the red bowl; Remove the spoon from the red mug and place it in the red bowl; Remove the spoon from the cup and put it in the red bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1299/frame_0000.jpg", "droid-cotrack/images/episode_1299/frame_0026.jpg", "droid-cotrack/images/episode_1299/frame_0123.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the spoon from the red mug and place it in the red bowl; Remove the spoon from the red mug and place it in the red bowl; Remove the spoon from the cup and put it in the red bowl?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the spoon from the red mug and place it in the red bowl; Remove the spoon from the red mug and place it in the red bowl; Remove the spoon from the cup and put it in the red bowl, execute the following phases: 1) Initial approach phase (start at [0.535, 0.795]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.538, 0.794]). The trajectory involves 124 precise waypoints with total movement distance of 0.090." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1299", "trajectory_length": 124, "key_frame_indices": [ 0, 26, 123 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1299.json" } }, { "id": "droid_cotrack_episode_1193", "task": "Put the pen in the cup; Put the marker in the cup; Put the marker inside the mug", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1193/frame_0000.jpg", "droid-cotrack/images/episode_1193/frame_0108.jpg", "droid-cotrack/images/episode_1193/frame_0132.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pen in the cup; Put the marker in the cup; Put the marker inside the mug?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the pen in the cup; Put the marker in the cup; Put the marker inside the mug, execute the following phases: 1) Initial approach phase (start at [0.593, 0.640]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.647, 0.613]). The trajectory involves 133 precise waypoints with total movement distance of 0.379." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1193", "trajectory_length": 133, "key_frame_indices": [ 0, 108, 132 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1193.json" } }, { "id": "droid_cotrack_episode_6614", "task": "Move the red spatula to the cabinet top", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6614/frame_0000.jpg", "droid-cotrack/images/episode_6614/frame_0185.jpg", "droid-cotrack/images/episode_6614/frame_0194.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the red spatula to the cabinet top?" }, { "from": "gpt", "value": "To complete this repositioning: Move the red spatula to the cabinet top, execute the following phases: 1) Initial approach phase (start at [0.461, 0.661]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.369, 0.374]). The trajectory involves 195 precise waypoints with total movement distance of 0.867." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6614", "trajectory_length": 195, "key_frame_indices": [ 0, 185, 194 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6614.json" } }, { "id": "droid_cotrack_episode_4465", "task": "Remove the red lid from the bowl and place it on the right side of the table; Open the lid of the small bowl; Remove the red lid from the clear bowl on the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4465/frame_0000.jpg", "droid-cotrack/images/episode_4465/frame_0210.jpg", "droid-cotrack/images/episode_4465/frame_0220.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the red lid from the bowl and place it on the right side of the table; Open the lid of the small bowl; Remove the red lid from the clear bowl on the left?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the red lid from the bowl and place it on the right side of the table; Open the lid of the small bowl; Remove the red lid from the clear bowl on the left, execute the following phases: 1) Initial approach phase (start at [0.638, 0.354]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.802, 0.629]). The trajectory involves 221 precise waypoints with total movement distance of 0.589." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4465", "trajectory_length": 221, "key_frame_indices": [ 0, 210, 220 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4465.json" } }, { "id": "droid_cotrack_episode_2168", "task": "Move the blue bag to the right side of the desk; Move the dark blue bag to the right; Move the blue bag to the right end of the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2168/frame_0000.jpg", "droid-cotrack/images/episode_2168/frame_0106.jpg", "droid-cotrack/images/episode_2168/frame_0175.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the blue bag to the right side of the desk; Move the dark blue bag to the right; Move the blue bag to the right end of the table?" }, { "from": "gpt", "value": "To complete this repositioning: Move the blue bag to the right side of the desk; Move the dark blue bag to the right; Move the blue bag to the right end of the table, execute the following phases: 1) Initial approach phase (start at [0.250, 0.848]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.551, 0.700]). The trajectory involves 176 precise waypoints with total movement distance of 0.761." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2168", "trajectory_length": 176, "key_frame_indices": [ 0, 106, 175 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2168.json" } }, { "id": "droid_cotrack_episode_6438", "task": "Remove the marker out of the bowl and put it on the table; Remove the marker from the bowl; Remove the marker from the bowl and put it on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6438/frame_0000.jpg", "droid-cotrack/images/episode_6438/frame_0213.jpg", "droid-cotrack/images/episode_6438/frame_0216.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker out of the bowl and put it on the table; Remove the marker from the bowl; Remove the marker from the bowl and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the marker out of the bowl and put it on the table; Remove the marker from the bowl; Remove the marker from the bowl and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.712, 0.495]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.716, 0.723]). The trajectory involves 217 precise waypoints with total movement distance of 0.833." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6438", "trajectory_length": 217, "key_frame_indices": [ 0, 213, 216 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6438.json" } }, { "id": "droid_cotrack_episode_1063", "task": "Pick up the marker and write on the piece of paper; Use the marker and write on the paper; Use the black marker to write on the whiteboard.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1063/frame_0000.jpg", "droid-cotrack/images/episode_1063/frame_0404.jpg", "droid-cotrack/images/episode_1063/frame_0596.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the marker and write on the piece of paper; Use the marker and write on the paper; Use the black marker to write on the whiteboard.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Pick up the marker and write on the piece of paper; Use the marker and write on the paper; Use the black marker to write on the whiteboard., execute the following phases: 1) Initial approach phase (start at [0.525, 0.443]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.526, 0.442]). The trajectory involves 597 precise waypoints with total movement distance of 0.216." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1063", "trajectory_length": 597, "key_frame_indices": [ 0, 404, 596 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1063.json" } }, { "id": "droid_cotrack_episode_2027", "task": "Uncover the pan; Uncover the pan; Uncover the pan and put the lid on the counter", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2027/frame_0000.jpg", "droid-cotrack/images/episode_2027/frame_0094.jpg", "droid-cotrack/images/episode_2027/frame_0179.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Uncover the pan; Uncover the pan; Uncover the pan and put the lid on the counter?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Uncover the pan; Uncover the pan; Uncover the pan and put the lid on the counter, execute the following phases: 1) Initial approach phase (start at [0.657, 0.428]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.755, 0.433]). The trajectory involves 180 precise waypoints with total movement distance of 0.516." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2027", "trajectory_length": 180, "key_frame_indices": [ 0, 94, 179 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2027.json" } }, { "id": "droid_cotrack_episode_1588", "task": "Pick up the pencil and move it slightly to the left.; Move the pencil to the left; Move the pencil to the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1588/frame_0000.jpg", "droid-cotrack/images/episode_1588/frame_0079.jpg", "droid-cotrack/images/episode_1588/frame_0109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the pencil and move it slightly to the left.; Move the pencil to the left; Move the pencil to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Pick up the pencil and move it slightly to the left.; Move the pencil to the left; Move the pencil to the left, execute the following phases: 1) Initial approach phase (start at [0.488, 0.291]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.390, 0.226]). The trajectory involves 110 precise waypoints with total movement distance of 0.261." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1588", "trajectory_length": 110, "key_frame_indices": [ 0, 79, 109 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1588.json" } }, { "id": "droid_cotrack_episode_877", "task": "Lock the door; Lock the door; Rotate the door lock to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_877/frame_0000.jpg", "droid-cotrack/images/episode_877/frame_0125.jpg", "droid-cotrack/images/episode_877/frame_0496.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Lock the door; Lock the door; Rotate the door lock to the right?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Lock the door; Lock the door; Rotate the door lock to the right, execute the following phases: 1) Initial approach phase (start at [0.868, 0.312]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.879, 0.316]). The trajectory involves 497 precise waypoints with total movement distance of 0.582." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_877", "trajectory_length": 497, "key_frame_indices": [ 0, 125, 496 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_877.json" } }, { "id": "droid_cotrack_episode_1923", "task": "Put the marker in the silver pot; Put the marker in the pot; Put the marker inside the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1923/frame_0000.jpg", "droid-cotrack/images/episode_1923/frame_0085.jpg", "droid-cotrack/images/episode_1923/frame_0168.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the silver pot; Put the marker in the pot; Put the marker inside the cup?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the marker in the silver pot; Put the marker in the pot; Put the marker inside the cup, execute the following phases: 1) Initial approach phase (start at [0.473, 0.456]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.546, 0.470]). The trajectory involves 169 precise waypoints with total movement distance of 0.429." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1923", "trajectory_length": 169, "key_frame_indices": [ 0, 85, 168 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1923.json" } }, { "id": "droid_cotrack_episode_1839", "task": "Remove the glass lid from the black pan.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1839/frame_0000.jpg", "droid-cotrack/images/episode_1839/frame_0238.jpg", "droid-cotrack/images/episode_1839/frame_0291.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the glass lid from the black pan.?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the glass lid from the black pan., execute the following phases: 1) Initial approach phase (start at [0.786, 0.681]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.546, 0.856]). The trajectory involves 292 precise waypoints with total movement distance of 0.576." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1839", "trajectory_length": 292, "key_frame_indices": [ 0, 238, 291 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1839.json" } }, { "id": "droid_cotrack_episode_10293", "task": "Take the lid from the pot and put it on the brown pot mat; Remove the lid from the pot; Uncover the pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10293/frame_0000.jpg", "droid-cotrack/images/episode_10293/frame_0175.jpg", "droid-cotrack/images/episode_10293/frame_0220.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the lid from the pot and put it on the brown pot mat; Remove the lid from the pot; Uncover the pot?" }, { "from": "gpt", "value": "To complete this repositioning: Take the lid from the pot and put it on the brown pot mat; Remove the lid from the pot; Uncover the pot, execute the following phases: 1) Initial approach phase (start at [0.530, 0.633]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.357, 0.698]). The trajectory involves 221 precise waypoints with total movement distance of 0.433." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10293", "trajectory_length": 221, "key_frame_indices": [ 0, 175, 220 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10293.json" } }, { "id": "droid_cotrack_episode_4315", "task": "Pick up the bottle from the table and put it in the box", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4315/frame_0000.jpg", "droid-cotrack/images/episode_4315/frame_0096.jpg", "droid-cotrack/images/episode_4315/frame_0168.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the bottle from the table and put it in the box?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the bottle from the table and put it in the box, execute the following phases: 1) Initial approach phase (start at [0.369, 0.713]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.382, 0.534]). The trajectory involves 169 precise waypoints with total movement distance of 0.657." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4315", "trajectory_length": 169, "key_frame_indices": [ 0, 96, 168 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4315.json" } }, { "id": "droid_cotrack_episode_10054", "task": "Pick the object and put it in the cup; Put the glue stick in the yellow mug; Put the glue stick in the cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10054/frame_0000.jpg", "droid-cotrack/images/episode_10054/frame_0135.jpg", "droid-cotrack/images/episode_10054/frame_0252.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the object and put it in the cup; Put the glue stick in the yellow mug; Put the glue stick in the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the object and put it in the cup; Put the glue stick in the yellow mug; Put the glue stick in the cup, execute the following phases: 1) Initial approach phase (start at [0.286, 0.377]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.513, 0.469]). The trajectory involves 253 precise waypoints with total movement distance of 0.489." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10054", "trajectory_length": 253, "key_frame_indices": [ 0, 135, 252 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10054.json" } }, { "id": "droid_cotrack_episode_10224", "task": "Move the carrot plush toy to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10224/frame_0000.jpg", "droid-cotrack/images/episode_10224/frame_0171.jpg", "droid-cotrack/images/episode_10224/frame_0173.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the carrot plush toy to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the carrot plush toy to the right, execute the following phases: 1) Initial approach phase (start at [0.360, 0.526]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.363, 0.524]). The trajectory involves 174 precise waypoints with total movement distance of 0.048." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10224", "trajectory_length": 174, "key_frame_indices": [ 0, 171, 173 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10224.json" } }, { "id": "droid_cotrack_episode_6420", "task": "Move the cup slightly backward to the left; Move the cup slightly backwards to the left; Move the mug cup forward", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6420/frame_0000.jpg", "droid-cotrack/images/episode_6420/frame_0099.jpg", "droid-cotrack/images/episode_6420/frame_0125.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup slightly backward to the left; Move the cup slightly backwards to the left; Move the mug cup forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup slightly backward to the left; Move the cup slightly backwards to the left; Move the mug cup forward, execute the following phases: 1) Initial approach phase (start at [0.474, 0.330]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.466, 0.503]). The trajectory involves 126 precise waypoints with total movement distance of 0.317." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6420", "trajectory_length": 126, "key_frame_indices": [ 0, 99, 125 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6420.json" } }, { "id": "droid_cotrack_episode_4536", "task": "flip the light switch", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4536/frame_0000.jpg", "droid-cotrack/images/episode_4536/frame_0083.jpg", "droid-cotrack/images/episode_4536/frame_0089.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: flip the light switch?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: flip the light switch, execute the following phases: 1) Initial approach phase (start at [0.514, 0.260]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.515, 0.260]). The trajectory involves 90 precise waypoints with total movement distance of 0.043." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4536", "trajectory_length": 90, "key_frame_indices": [ 0, 83, 89 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4536.json" } }, { "id": "droid_cotrack_episode_1847", "task": "Put the cup on the white plate; Put the cup on the plate; Pick the cup and put it on the plate", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1847/frame_0000.jpg", "droid-cotrack/images/episode_1847/frame_0274.jpg", "droid-cotrack/images/episode_1847/frame_0416.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the cup on the white plate; Put the cup on the plate; Pick the cup and put it on the plate?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the cup on the white plate; Put the cup on the plate; Pick the cup and put it on the plate, execute the following phases: 1) Initial approach phase (start at [0.668, 0.765]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.733, 0.644]). The trajectory involves 417 precise waypoints with total movement distance of 0.733." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1847", "trajectory_length": 417, "key_frame_indices": [ 0, 274, 416 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1847.json" } }, { "id": "droid_cotrack_episode_10025", "task": "Pick the marker from the pot and put it on the table; Remove the marker from the pot and place it on the table; Remove the marker from the pot", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10025/frame_0000.jpg", "droid-cotrack/images/episode_10025/frame_0127.jpg", "droid-cotrack/images/episode_10025/frame_0171.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the marker from the pot and put it on the table; Remove the marker from the pot and place it on the table; Remove the marker from the pot?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the marker from the pot and put it on the table; Remove the marker from the pot and place it on the table; Remove the marker from the pot, execute the following phases: 1) Initial approach phase (start at [0.550, 0.439]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.589, 0.442]). The trajectory involves 172 precise waypoints with total movement distance of 0.390." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10025", "trajectory_length": 172, "key_frame_indices": [ 0, 127, 171 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10025.json" } }, { "id": "droid_cotrack_episode_4067", "task": "Place the marker on the table; Remove the marker from the mug cup and place it on the table; Take the marker out of the red mug", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4067/frame_0000.jpg", "droid-cotrack/images/episode_4067/frame_0134.jpg", "droid-cotrack/images/episode_4067/frame_0146.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the marker on the table; Remove the marker from the mug cup and place it on the table; Take the marker out of the red mug?" }, { "from": "gpt", "value": "To complete this repositioning: Place the marker on the table; Remove the marker from the mug cup and place it on the table; Take the marker out of the red mug, execute the following phases: 1) Initial approach phase (start at [0.590, 0.390]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.592, 0.418]). The trajectory involves 147 precise waypoints with total movement distance of 0.195." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4067", "trajectory_length": 147, "key_frame_indices": [ 0, 134, 146 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4067.json" } }, { "id": "droid_cotrack_episode_6789", "task": "Pick up the orange block from the table and put it on top of the yellow and orange blocks.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6789/frame_0000.jpg", "droid-cotrack/images/episode_6789/frame_0102.jpg", "droid-cotrack/images/episode_6789/frame_0179.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the orange block from the table and put it on top of the yellow and orange blocks.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the orange block from the table and put it on top of the yellow and orange blocks., execute the following phases: 1) Initial approach phase (start at [0.359, 0.434]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.462, 0.276]). The trajectory involves 180 precise waypoints with total movement distance of 0.501." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6789", "trajectory_length": 180, "key_frame_indices": [ 0, 102, 179 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6789.json" } }, { "id": "droid_cotrack_episode_1121", "task": "Pick up the pen from the table and put it in the mug cup.; Put the pen inside the mug; Pick up the pen from the table and put it in the mug cup.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1121/frame_0000.jpg", "droid-cotrack/images/episode_1121/frame_0109.jpg", "droid-cotrack/images/episode_1121/frame_0190.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the pen from the table and put it in the mug cup.; Put the pen inside the mug; Pick up the pen from the table and put it in the mug cup.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the pen from the table and put it in the mug cup.; Put the pen inside the mug; Pick up the pen from the table and put it in the mug cup., execute the following phases: 1) Initial approach phase (start at [0.553, 0.491]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.629, 0.392]). The trajectory involves 191 precise waypoints with total movement distance of 0.541." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1121", "trajectory_length": 191, "key_frame_indices": [ 0, 109, 190 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1121.json" } }, { "id": "droid_cotrack_episode_1708", "task": "Put the red marker on the table.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1708/frame_0000.jpg", "droid-cotrack/images/episode_1708/frame_0100.jpg", "droid-cotrack/images/episode_1708/frame_0150.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the red marker on the table.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the red marker on the table., execute the following phases: 1) Initial approach phase (start at [0.592, 0.721]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.475, 0.678]). The trajectory involves 151 precise waypoints with total movement distance of 0.610." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1708", "trajectory_length": 151, "key_frame_indices": [ 0, 100, 150 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1708.json" } }, { "id": "droid_cotrack_episode_1537", "task": "Put the marker in the bowl; Put the orange marker in the bowl; Put the red marker in the blue bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1537/frame_0000.jpg", "droid-cotrack/images/episode_1537/frame_0173.jpg", "droid-cotrack/images/episode_1537/frame_0200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the bowl; Put the orange marker in the bowl; Put the red marker in the blue bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the marker in the bowl; Put the orange marker in the bowl; Put the red marker in the blue bowl, execute the following phases: 1) Initial approach phase (start at [0.509, 0.583]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.518, 0.582]). The trajectory involves 201 precise waypoints with total movement distance of 0.123." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1537", "trajectory_length": 201, "key_frame_indices": [ 0, 173, 200 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1537.json" } }, { "id": "droid_cotrack_episode_10053", "task": "Move the screwdriver from the window sill to the black bowl; Put the screwdriver in the black bowl; Pick up the screwdriver from the shelve and put it in the black tray on the left", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10053/frame_0000.jpg", "droid-cotrack/images/episode_10053/frame_0107.jpg", "droid-cotrack/images/episode_10053/frame_0197.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the screwdriver from the window sill to the black bowl; Put the screwdriver in the black bowl; Pick up the screwdriver from the shelve and put it in the black tray on the left?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Move the screwdriver from the window sill to the black bowl; Put the screwdriver in the black bowl; Pick up the screwdriver from the shelve and put it in the black tray on the left, execute the following phases: 1) Initial approach phase (start at [0.699, 0.334]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.693, 0.304]). The trajectory involves 198 precise waypoints with total movement distance of 0.284." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10053", "trajectory_length": 198, "key_frame_indices": [ 0, 107, 197 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10053.json" } }, { "id": "droid_cotrack_episode_10292", "task": "Put the marker in the box; Put the black marker in the box; Place the black marker inside the blue and white box", "selected_step": 1, "image": [ "droid-cotrack/images/episode_10292/frame_0000.jpg", "droid-cotrack/images/episode_10292/frame_0244.jpg", "droid-cotrack/images/episode_10292/frame_0261.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the box; Put the black marker in the box; Place the black marker inside the blue and white box?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the marker in the box; Put the black marker in the box; Place the black marker inside the blue and white box, execute the following phases: 1) Initial approach phase (start at [0.557, 0.637]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.563, 0.539]). The trajectory involves 262 precise waypoints with total movement distance of 0.630." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_10292", "trajectory_length": 262, "key_frame_indices": [ 0, 244, 261 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_10292.json" } }, { "id": "droid_cotrack_episode_6441", "task": "Open the topmost drawer; Open the drawer fully; Open the top drawer of the cabinet", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6441/frame_0000.jpg", "droid-cotrack/images/episode_6441/frame_0279.jpg", "droid-cotrack/images/episode_6441/frame_0309.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the topmost drawer; Open the drawer fully; Open the top drawer of the cabinet?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the topmost drawer; Open the drawer fully; Open the top drawer of the cabinet, execute the following phases: 1) Initial approach phase (start at [0.498, 0.723]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.425, 0.788]). The trajectory involves 310 precise waypoints with total movement distance of 0.303." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6441", "trajectory_length": 310, "key_frame_indices": [ 0, 279, 309 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6441.json" } }, { "id": "droid_cotrack_episode_1906", "task": "Open the left cabinet door; Open the top left cupboard door; Open the left cabinet door", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1906/frame_0000.jpg", "droid-cotrack/images/episode_1906/frame_0130.jpg", "droid-cotrack/images/episode_1906/frame_0193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the left cabinet door; Open the top left cupboard door; Open the left cabinet door?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the left cabinet door; Open the top left cupboard door; Open the left cabinet door, execute the following phases: 1) Initial approach phase (start at [0.487, 0.219]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.410, 0.440]). The trajectory involves 194 precise waypoints with total movement distance of 0.369." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1906", "trajectory_length": 194, "key_frame_indices": [ 0, 130, 193 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1906.json" } }, { "id": "droid_cotrack_episode_1304", "task": "Spread the jeans on the couch; Straighten the jeans on the sofa; Straighten out the jeans", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1304/frame_0000.jpg", "droid-cotrack/images/episode_1304/frame_0666.jpg", "droid-cotrack/images/episode_1304/frame_0711.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Spread the jeans on the couch; Straighten the jeans on the sofa; Straighten out the jeans?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Spread the jeans on the couch; Straighten the jeans on the sofa; Straighten out the jeans, execute the following phases: 1) Initial approach phase (start at [0.542, 0.552]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.544, 0.578]). The trajectory involves 712 precise waypoints with total movement distance of 1.135." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1304", "trajectory_length": 712, "key_frame_indices": [ 0, 666, 711 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1304.json" } }, { "id": "droid_cotrack_episode_1787", "task": "Remove the mug from the sink and put it on the top right corner of the sink; Put the mug on the sink; Pick up the cup from the sink and put it on the counter", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1787/frame_0000.jpg", "droid-cotrack/images/episode_1787/frame_0094.jpg", "droid-cotrack/images/episode_1787/frame_0182.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the mug from the sink and put it on the top right corner of the sink; Put the mug on the sink; Pick up the cup from the sink and put it on the counter?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Remove the mug from the sink and put it on the top right corner of the sink; Put the mug on the sink; Pick up the cup from the sink and put it on the counter, execute the following phases: 1) Initial approach phase (start at [0.547, 0.741]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.580, 0.623]). The trajectory involves 183 precise waypoints with total movement distance of 0.378." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1787", "trajectory_length": 183, "key_frame_indices": [ 0, 94, 182 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1787.json" } }, { "id": "droid_cotrack_episode_4114", "task": "Pick the pen and put it in the cup; Put the marker in the bowl; Pick up the marker and put it in the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_4114/frame_0000.jpg", "droid-cotrack/images/episode_4114/frame_0076.jpg", "droid-cotrack/images/episode_4114/frame_0119.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the pen and put it in the cup; Put the marker in the bowl; Pick up the marker and put it in the bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the pen and put it in the cup; Put the marker in the bowl; Pick up the marker and put it in the bowl, execute the following phases: 1) Initial approach phase (start at [0.559, 0.721]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.525, 0.568]). The trajectory involves 120 precise waypoints with total movement distance of 0.337." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_4114", "trajectory_length": 120, "key_frame_indices": [ 0, 76, 119 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_4114.json" } }, { "id": "droid_cotrack_episode_1815", "task": "Place the coffee cup upright.", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1815/frame_0000.jpg", "droid-cotrack/images/episode_1815/frame_0098.jpg", "droid-cotrack/images/episode_1815/frame_0182.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the coffee cup upright.?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Place the coffee cup upright., execute the following phases: 1) Initial approach phase (start at [0.355, 0.790]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.539, 0.669]). The trajectory involves 183 precise waypoints with total movement distance of 0.640." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1815", "trajectory_length": 183, "key_frame_indices": [ 0, 98, 182 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1815.json" } }, { "id": "droid_cotrack_episode_1597", "task": "Pour some of the beans in the jar into the red bowl; Pour out some of the contents in the clear jug into the red bowl; Pour some of the things in the jug into the bowl", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1597/frame_0000.jpg", "droid-cotrack/images/episode_1597/frame_0141.jpg", "droid-cotrack/images/episode_1597/frame_0324.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour some of the beans in the jar into the red bowl; Pour out some of the contents in the clear jug into the red bowl; Pour some of the things in the jug into the bowl?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Pour some of the beans in the jar into the red bowl; Pour out some of the contents in the clear jug into the red bowl; Pour some of the things in the jug into the bowl, execute the following phases: 1) Initial approach phase (start at [0.629, 0.614]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.630, 0.602]). The trajectory involves 325 precise waypoints with total movement distance of 0.186." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1597", "trajectory_length": 325, "key_frame_indices": [ 0, 141, 324 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1597.json" } }, { "id": "droid_cotrack_episode_1094", "task": "Switch off the light; Flip the switch; Turn the light switch off", "selected_step": 1, "image": [ "droid-cotrack/images/episode_1094/frame_0000.jpg", "droid-cotrack/images/episode_1094/frame_0070.jpg", "droid-cotrack/images/episode_1094/frame_0100.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Switch off the light; Flip the switch; Turn the light switch off?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Switch off the light; Flip the switch; Turn the light switch off, execute the following phases: 1) Initial approach phase (start at [0.621, 0.291]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.621, 0.295]). The trajectory involves 101 precise waypoints with total movement distance of 0.060." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_1094", "trajectory_length": 101, "key_frame_indices": [ 0, 70, 100 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_1094.json" } }, { "id": "droid_cotrack_episode_2261", "task": "Put the white spoon in the white mug; Put the spoon inside the mug; Put the spoon in the mug cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2261/frame_0000.jpg", "droid-cotrack/images/episode_2261/frame_0215.jpg", "droid-cotrack/images/episode_2261/frame_0326.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the white spoon in the white mug; Put the spoon inside the mug; Put the spoon in the mug cup?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Put the white spoon in the white mug; Put the spoon inside the mug; Put the spoon in the mug cup, execute the following phases: 1) Initial approach phase (start at [0.802, 0.565]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.713, 0.361]). The trajectory involves 327 precise waypoints with total movement distance of 0.626." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2261", "trajectory_length": 327, "key_frame_indices": [ 0, 215, 326 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2261.json" } }, { "id": "droid_cotrack_episode_518", "task": "Pick up the white plate and move it from the left side of the dishwasher to the right side; Move the plate in the dishwasher towards you; Move the plate in the dishwasher from the left to the right", "selected_step": 1, "image": [ "droid-cotrack/images/episode_518/frame_0000.jpg", "droid-cotrack/images/episode_518/frame_0141.jpg", "droid-cotrack/images/episode_518/frame_0434.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the white plate and move it from the left side of the dishwasher to the right side; Move the plate in the dishwasher towards you; Move the plate in the dishwasher from the left to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Pick up the white plate and move it from the left side of the dishwasher to the right side; Move the plate in the dishwasher towards you; Move the plate in the dishwasher from the left to the right, execute the following phases: 1) Initial approach phase (start at [0.271, 0.837]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.459, 0.895]). The trajectory involves 435 precise waypoints with total movement distance of 0.606." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_518", "trajectory_length": 435, "key_frame_indices": [ 0, 141, 434 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_518.json" } }, { "id": "droid_cotrack_episode_2223", "task": "Fold the cloth in half; Fold the cloth on the table; Fold the towel once on the table", "selected_step": 1, "image": [ "droid-cotrack/images/episode_2223/frame_0000.jpg", "droid-cotrack/images/episode_2223/frame_0159.jpg", "droid-cotrack/images/episode_2223/frame_0304.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the cloth in half; Fold the cloth on the table; Fold the towel once on the table?" }, { "from": "gpt", "value": "To complete this droid-cotrack manipulation: Fold the cloth in half; Fold the cloth on the table; Fold the towel once on the table, execute the following phases: 1) Initial approach phase (start at [0.601, 0.732]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.442, 0.693]). The trajectory involves 305 precise waypoints with total movement distance of 0.881." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_2223", "trajectory_length": 305, "key_frame_indices": [ 0, 159, 304 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_2223.json" } }, { "id": "droid_cotrack_episode_813", "task": "Move the orange jar toward the middle of the counter; Move the orange jar to the middle of the table; Move the bottle backward", "selected_step": 1, "image": [ "droid-cotrack/images/episode_813/frame_0000.jpg", "droid-cotrack/images/episode_813/frame_0061.jpg", "droid-cotrack/images/episode_813/frame_0102.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the orange jar toward the middle of the counter; Move the orange jar to the middle of the table; Move the bottle backward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the orange jar toward the middle of the counter; Move the orange jar to the middle of the table; Move the bottle backward, execute the following phases: 1) Initial approach phase (start at [0.864, 0.778]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.554, 0.516]). The trajectory involves 103 precise waypoints with total movement distance of 0.604." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_813", "trajectory_length": 103, "key_frame_indices": [ 0, 61, 102 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_813.json" } }, { "id": "droid_cotrack_episode_6823", "task": "Pick up all the orange objects from the table and put them in the colorless cup then pick up all the yellow objects from the table and put them in the white cup; Put one yellow ring in the white cup, then one orange ring in the transparent cup, then the last yellow ring in the white cup and the last three orange rings in the transparent cup; Put the yellow rings in the white cup and the orange rings in the clear cup", "selected_step": 1, "image": [ "droid-cotrack/images/episode_6823/frame_0000.jpg", "droid-cotrack/images/episode_6823/frame_0109.jpg", "droid-cotrack/images/episode_6823/frame_0682.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up all the orange objects from the table and put them in the colorless cup then pick up all the yellow objects from the table and put them in the white cup; Put one yellow ring in the white cup, then one orange ring in the transparent cup, then the last yellow ring in the white cup and the last three orange rings in the transparent cup; Put the yellow rings in the white cup and the orange rings in the clear cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up all the orange objects from the table and put them in the colorless cup then pick up all the yellow objects from the table and put them in the white cup; Put one yellow ring in the white cup, then one orange ring in the transparent cup, then the last yellow ring in the white cup and the last three orange rings in the transparent cup; Put the yellow rings in the white cup and the orange rings in the clear cup, execute the following phases: 1) Initial approach phase (start at [0.599, 0.417]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.602, 0.514]). The trajectory involves 683 precise waypoints with total movement distance of 1.709." } ], "metadata": { "original_dataset": "A0-droid-cotrack", "task_name": "droid_cotrack", "episode_id": "episode_6823", "trajectory_length": 683, "key_frame_indices": [ 0, 109, 682 ], "coordinate_system": "normalized", "original_file": "droid-cotrack/mnt/data/Users/yanghaoting/Label/droid-label/droid-data/episode_6823.json" } } ]